ABB FEPL-02 Ethernet POWERLINK - Control and Status Word Functions

78 Communication profiles
 Control word and Status word
The Control word is the principal means for controlling the drive
from a fieldbus system. It is sent by the fieldbus master to the drive
through the adapter module. The drive switches between its states
according to the bit-coded instructions in the Control word, and
returns status information to the master in the Status word.
The start and stop of the drive and several mode-specific
commands are executed by the device control state machine. This
is described in figure State machine on page 82.
Control word contents
The functionality of the CiA 402 Control word is described in the
following tables. The Control word described in the table below can
be found in object 0x6040 (hex) and the Status word in object
0x6041 (hex) (see Appendix A – CANopen 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