Control Word

Byte 0 for Axis 1; Byte 64 for Axis 2 of the Standard Command Assembly.

Bit	Definition	Description
0	Load/Start	This bit is used for data handshaking between the controller and amplifier.
1	Start Block	Executes a Motion Task sequence previously generated and stored in the drive. Enter the starting block number into the Block Number field (Byte 1) and transition this bit to High (1). The Load/Start flag must be Low (0) while transitioning Start Block.
2	Relative	This bit is used in only in Position Mode. This bit indicates whether a move executed with Command Type 1 (Target Position) or 6 (Position Move) should be absolute (0) or incremental (1).
3	Direction	Used with Command Type 0x07 - Jog Move in both Velocity Operation Mode or Position Operation Mode and Command Type 0x08 - Velocity Setpoint in Velocity Mode. Positive direction = 1 and Negative direction = 0.
4	Smooth Stop	Setting this bit causes the amplifier to decelerate to a stop. The smooth stop is the same as AXIS#.STOP. It will decelerate based on the DEC settings at the time of motion initiation.
5	Hard Stop	Setting this bit causes the amplifier to execute a Controlled Stop. The Enable bit must be cleared and reset in order to enable motion again. Controlled Stop configuration and settings can be found in WorkBench's Enable/Disable screen under Settings for the respective axis.
6	Reserved
7	Enable	Setting this bit enables the amplifier.

To transmit a command to the amplifier:

Set the Command Type and load data into the data fields.
Toggle Load/Start to High (1).
The amplifier will accept data only when Load/Start transitions from 0 to 1.

If the Command Type matches the operating mode (see list below for matches) the amplifier will start motion when the data is loaded. When the data has been loaded successfully, the amplifier will set the Load Complete response flag to High (1).

Target Position or Position Move in Position Mode
Target Velocity or Jog in Velocity Mode
Torque in Torque Mode