S-0-0134 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
Datatype	binary
Data length in bit	16
Decimal point	0
Min value	-
Default	0.0
Max 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 S-0-0134. If operating mode 0 is selected here, the drive activates the operating mode selected in the IDN "PrimaryOperationMode" S-0-0032. If 1 is sent by the controller, the "first secondary mode" is activated, see S-0-0033.

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
8-9	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
15	Drive On/Off Drive On/Off 0 = drive off: When changing from 1 to 0: the maximum drive off delay time (IDN S-0-0273) is started, drive is decelerated as best as possible according to the emergency stop deceleration (IDN S-0-0429), followed by disabling of the torque/force at n min, after the drive off delay time (IDN S-0-0207). The power stage can remain in an activated state (only possible when bit 14=1). After the maximum drive off delay time (IDN S-0-0273) is elapsed, the locking of brake is initiated and the torque/force is disabled. 1 = drive on: When changing from 0 to 1: drive follows the command values of the control unit after the drive on delay time (IDN S-0-0206).

	For further information please look into the involved IDN: S-0-0099