Application Manual POWERLINK Controlled Node
Document no. 5.13013.04 Baumüller Nürnberg GmbH
54
of 80
CANopen object Index
Value range
f P. no.
Scaling
Controller parameters P. no.
Value range
f Index
re-scaling
Comment
Controlword 0x6040 f P0300 Control word P0300 f 0x6040 Bit 6 in the control word is now sup-
ported;
Bit 6 = 0 : Positioning mode „abso-
lute“
Bit 6 = 1 : Positioning mode „rela-
tive, negative, positive“
No other position mode is sup-
ported via CoE and the control
word.
x = 0 .. 0xFFFF f y = x x = 0 .. 0xFFFF f y = x
Switch on Bit 0 f unchanged Switch on Bit 0 f unchanged
Disable voltage Bit 1 f unchanged Inhibit voltage Bit 1 f unchanged
Quick stop Bit 2 f unchanged Quickstop Bit 2 f unchanged
Enable operation Bit 3 f unchanged Operation enabled Bit 3 f unchanged
Operation mode specific Bit 4 f unchanged Depending on operation mode Bit 4 f unchanged
Operation mode specific Bit 5 f unchanged Depending on operation mode Bit 5 f unchanged
Operation mode specific Bit 6 f unchanged Depending on operation mode Bit 6 f unchanged
Reset fault Bit 7 f unchanged Reset error Bit 7 f unchanged
Operation mode specific Bit 8 f unchanged Depending on operation mode Bit 8 f unchanged
reserved Bit 9 f unchanged reserved (always 0) Bit 9 f unchanged
reserved Bit 10 f unchanged reserved (always 0) Bit 10 f unchanged
Manufacturer specific Bit 11 f unchanged Depending on operation mode Bit 11 f unchanged
Manufacturer specific Bit 12 f unchanged Depending on operation mode Bit 12 f unchanged
Manufacturer specific Bit 13 f unchanged Depending on operation mode Bit 13 f unchanged
Manufacturer specific Bit 14 f unchanged Depending on operation mode Bit 14 f unchanged
Manufacturer specific Bit 15 f unchanged Write protection Bit 15 f unchanged
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