ABB FECA-01 - Control Word and Status Word of the Cia 402 Profile

Communication profiles 73
Control word and Status word of the CiA 402
profile
The functionality of the Control word is described in the following
tables. The Control word described in the table below can be found
in CoE object 0x6040 Controlword and the Status word in CoE
object 0x6041 Statusword (see Appendix A – CoE Object
Dictionary).
The operation mode specific bits of the Control word of the CiA 402
profile are listed in the table below:
Bit Description
0Switch on
1 Enable voltage
2 Quick stop
3 Enable operation
4…6 Operation mode specific
7Fault reset
8Halt
9 Operation mode specific
10 Reserved
11…15 Drive specific
Bit Velocity
mode
Profile
position
mode
Profile
velocity
mode
Profile
torque
mode
Homing
mode
4 Ramp func-
tion genera-
tor enable
New set
point
Reserved Reserved Homing op-
eration start
5 Ramp func-
tion genera-
tor unlock
Change set
immediately
Reserved Reserved Reserved
6 Ramp func-
tion genera-
tor use ref.
Absolute /
relative
Reserved Reserved Reserved