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.
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.
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
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| CANopen control word |
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bit 15 | bit 14 | bit 13 | bit 12 | bit 11 | bit 10 bit 9 bit 8 | bit 7 bit 6 bit 5 | bit 4 | bit 3 | bit 2 |
Terminals
LI14 | LI13 |
| LI12 | LI11 | LI10 | LI9 |
| LI8 | LI7 | LI6 | LI5 |
| LI4 | LI3 |
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bit 1 | bit 0 |
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C201
Cd02
Command switching
CCS
CANopen 
Terminals
LI2 | LI1 | LI2 | ||
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Function
A
C
LI5
B
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