Beckhoff EL72 1 Series - Page 158

EL72x1-0001 (DS402) - Object description and parameterization
EL72x1158 Version: 3.3
Index 6040 Controlword
Index (hex) Name Meaning Data type Flags Default
6040:0 Controlword
DS402 Controlword [}101]
Bit 0 : Switch on
Bit 1 : Enable voltage
Bit 2 : reserved
Bit 3 : Enable operation
Bit 4 - 6 : reserved
Bit 7 : Fault reset
Bit 8 - 15 : reserved
UINT16 RO 0x0000 (0
dec
)
Index 6041 Statusword
Index (hex) Name Meaning Data type Flags Default
6041:0 Statusword
DS402 Statusword [}101]
Bit 0 : Ready to switch on
Bit 1 : Switched on
Bit 2 : Operation enabled
Bit 3 : Fault
Bit 4 : reserved
Bit 5 : reserved
Bit 6 : Switch on disabled
Bit 7 : Warning
Bit 8 + 9 : reserved
Bit 10: TxPDOToggle (selection/deselection via
0x60DA [}160])
Bit 11 : Internal limit active
Bit 12 : (Target value ignored)
Bit 13 - 15 : reserved
UINT16 RO 0x0000 (0
dec
)
Index 605E Fault reaction option code
Index (hex) Name Meaning Data type Flags Default
605E:0 Fault reaction option
code
0: Disable drive function, motor is free to rotate
1: Slow down by slow down ramp
ENUM16BIT RW 0
Index 6060 Modes of operation
Index (hex) Name Meaning Data type Flags Default
6060:0 Modes of operation This object shall indicate the requested operation
mode
0x08: Cyclic synchronous position mode (CSP)
0x09: Cyclic synchronous velocity mode (CSV)
0x0A: Cyclic synchronous torque mode (CST)
0x0B: Cyclic synchronous torque mode with commuta-
tion angle (CSTCA)
UINT8 RW 0x00 (0
dec
)
Index 6061 Modes of operation display
Index (hex) Name Meaning Data type Flags Default
6061:0 Modes of operation
display
This object shall provide the actual operation mode UINT8 RO 0x00 (0
dec
)
Index 6064 Position actual value
Index (hex) Name Meaning Data type Flags Default
6064:0 Position actual value Position UINT32 RO 0x00000000
(0
dec
)
Index 6065 Following error window
Index (hex) Name Meaning Data type Flags Default
6065:0 Following error window RW