Beckhoff EL7201-0010 - Page 151

EL72x1-0010-DS402 - Object description and parameterization
Index 6040 Controlword
Index
(hex)
Name Meaning Data type Flags Default
6040:0 Control-
word
DS402 Controlword [}109]
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 Status-
word
DS402 Statusword [}109]
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 [}154])
Bit 11: Internal limit active
Bit 12: (Target value ignored)
Bit 13 - 15: reserved
UINT16 RO 0x0000
(0
dec
)
Index 6060 Modes of operation
Index
(hex)
Name Meaning Data type Flags Default
6060:0 Modes
of opera-
tion
permitted values:
0x08: Cyclic synchronous position mode (CSP)
0x09: Cyclic synchronous velocity mode (CSV)
0x0A: Cyclic synchronous torque mode (CST)
0x0B: Cyclic synchronous torque mode with commutation 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 opera-
tion dis-
play
permitted values:
8: Cyclic synchronous position mode (CSP)
9: Cyclic synchronous velocity mode (CSV)
10: Cyclic synchronous torque mode (CST)
11: Cyclic synchronous torque mode with commutation angle (CSTCA)
UINT8 RO 0x00 (0
dec
)
Index 6064 Position actual value
Index
(hex)
Name Meaning Data type Flags Default
6064:0 Position
actual
value
Position
Unit: the given value must be multiplied by the corresponding scaling factor
[}100]
UINT32 RO 0x000000
00 (0
dec
)
EL72x1-0010 151Version: 2.0