User Manual

Commands Reference
194 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Command
Bits of the Control Word
Transition
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Quick Stop 0 X 0 1 X 7,10,11
Disable Operation 0 0 1 1 1 5
Enable Operation 0 1 1 1 1 4,16
Fault Reset 0->1 X X X X 15
TABLE 15-5. Halt Bit (Bit 8)
Bit Value Definition
8
0 Positioning shall be executed or continued
1
Axis shall be stopped. Slow down on quick stop ramp (EDEC) and stay in operation
enabled
Profile Position Mode
TABLE 15-6. Control Word Mapping in Profile Position Mode
15 10 9 8 7 6 5 4 3 0
see Table 1
Change on
set-point
Halt
see
Table 1
Abs/rel
Change Set
Immediately
New Set
Point
see Table 1
MSB LSB
In Profile Position Mode the operation specific bits are mapped in Table 8. With bits 4, 5
and 9, user can define when the command for next Position (0x607A - POS) will be pro-
cessed. Bit 6 defines whether the command is absolute or relative to the current position.
TABLE 15-7. Definition of Bits 4, 5, 6, and 9 in Profile Position Mode
Bit 9 Bit 5 Bit 4 Definition
0 0 0->1
Positioning shall be completed (target reached) before the next one gets
started.
X 1 0->1 Next positioning shall be started immediately
1 0 0->1
Positioning with the current profile velocity up to the current set-point shall
be proceeded and then next positioning shall be applied
Bit Value Definition
6
0 Target position shall be an absolute value
1
Target position shall be a relative value. Positioning moves shall be performed relative
to the preceding (internal absolute) target position
Velocity Mode
TABLE 15-8. Control Word Mapping in Velocity Mode
15 9 8 7 6 5 4 3 0
see Table 1 Halt see Table 1
Reference
Ramp
Unlock Ramp Enable Ramp see Table 1
MSB LSB