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Command/reference switching
Assigning control word bits
I/O profile
The I/O profile is extremely flexible in terms of assigning and switching the 16 control word bits.
To switch a control word bit using:
• An input from the terminals
• Or a control word bit from another communication channel
simply configure a switched assignment for the function input (CDpp), instead of a fixed assignment (Cppp).
Inputs and bits of the same order are switched.
Inputs LI1 to LI6 of the drive terminals can be used to switch control word bits 0 to 5.
With a logic I/O card using inputs LI7 to LI10, control word bits 6 to 9 can also be switched.
With an extended I/O card using inputs LI11 to LI14, control word bits 10 to 13 can also be switched.
Example
Function input A is always controlled by bit 1 of the CANopen control word.
Function input B is always controlled by input LI5 on the terminals.
Depending on the value of LI2, function input C is controlled:
• Either by input LI3 on the terminals
• Or by bit 2 of the CANopen control word
Once a bit has been assigned to a switchable assignment, it can no longer be assigned to a fixed assignment, and vice versa.
Example: Once a function input has been assigned to CD04, it cannot be assigned to LI5, C104, C204, C304 or C404.
C201
Cd02
LI5
LI10
LI9
LI8
LI7
LI6
LI5
LI4
LI3
LI2
LI1
LI12
LI11
LI14
LI13
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
bit 2
bit 1
bit 0
bit 11
bit 10
bit 13
bit 12
bit 15
bit 14
LI2
A
C
B
CANopen control word
Terminals
Function
CANopen
Terminals
Command
switching
CCS