BECKHOFF AX5000 S-IDN Parameters - Manual (Page 106)

S­IDNs
S­0­0134 Master control word
The parameter contains the master control word. This parameter is cyclically transferred in each
communication cycle from the controller to the drive. It contains the set operating mode (bits 8, 9, 11), Halt
Drive (bit 13) and controller enable (bit 14).
Attributes
Name Value
Format Binary
Data length 16
Decimal point 0
Min value ­
Max value ­
Default value ­
Unit ­
Changeable in EtherCAT state No
Cyclic transfer MDT
Device parameter No
Related to interface revision No
The controller selects the operation mode via the 3 "operation mode" bits 8, 9, 11 of S­0­0134. If operating
mode 0 is selected here, the drive activates the operating mode selected in the IDN "PrimaryOperationMode"
S­0­0032. If 1 is sent by the controller, the "first secondary mode" is activated, see S­0­0033.
Bit pattern:
Bit Meaning
0 ­5 Reserved
6 Real time control bit 1
Real time control bit 1
7 Real time control bit 2
Real time control bit 2
8­9 Operation mode low
Operation mode low
0 = mode 0 or 4, depending on bit 11
1 = mode 1 or 5, depending on bit 11
2 = mode 2 or 6, depending on bit 11
3 = mode 3 or 7, depending on bit 11
10 Control unit synchronisation bit
Control unit synchronisation bit IPOSYNC toggles with cycle time tNcyc and is used to synchronise the
interpolation.
11 Operation mode high
Operation mode high
0 = mode 0 to 3
1 = mode 4 to 7
12 Reserved
13 Halt/ restart drive
Halt Drive/ Restart Drive
0 = Halt Drive
1 = Restart Drive
14 Enable drive
Enable drive
0 = Drive not enabled
1 = enable Drive
AX5000 ­ IDN­Descriptions 106 Version 3.1