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Data transfer slave  master
PZD
actual value
high word
low word
Fig. 11: Process data slave  master
ZSW
Status word ZSW:
Description:
Positioning mode, see chapter 8.5.2
Velocity mode, see chapter 8.5.5
Actual value:
The actual value consists of 4 bytes and has a different meaning depending on the operating
mode:
8.5

Positioning mode
The actual value contains the actual position value

Velocity mode
The actual value contains the actual velocity
Functional description of the control units
The control and status words are represented as follows:
high byte
15
0
14
0
13
1
12
0
11
1
low byte
10
0
bit number
9
8
7
6
0
1
0
1
5
0
4
0
2
9
4
Fig. 12: Representation of control and status words
3
1
2
0
1
0
0
0
8
Example (grey background):
binary:  0010 1001 0100 1000
hex:
 2
9
4
8
8.5.1
Control word in positioning mode (master  slave)
Bit
Value
0
1
0
Designation acc. to
PROFIDRIVE
ON
OFF 1
1
1
0
Operating condition
OFF 2
2
1
0
1
Operating condition
OFF 3
Operation enabled
3
AG04B
Date: 09.07.2015
AG04B description
OFF 1: not active (operational condition)
OFF 1: cancellation of positioning job (motor enabled,
ready-to-run state)
/ release from turn-on interlock
OFF 2: not active
OFF 2: cancellation of positioning job
(motor enabled, ready-to-run state)
Not implemented
must be statically set to ‘0’
Enable operation
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Art.No. 84940
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