Estun Summa Series - Page 311

Summa Series Servodrive Product Manual
Appendix
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
12-45
Controlword (6040h)
This object controls the device and operation mode.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
6040h
0
Controlword
UINT16
RW
Yes
0x0000
Bit
Data
Description
0
Switch on
－
1
Enable voltage
－
2
Quick stop
－
3
Enable operation
－
4 to 6
Operation mode specific
－
7
Fault reset
－
8
halt
－
9, 10
Reserved
－
11 to 15
Manufacture specific
－
Bit0 to Bit3, and Bit7: These bits function as the control command for the Servo Drive’s state.
Command
Bit of the controlword
Bit7
Bit3
Bit2
Bit1
Bit0
Transitions
Shutdown
0
－
1
1
0
2, 6, 8
Switch on
0
0
1
1
1
3*
Switch on
0
1
1
1
1
3**
Disable voltage
0
－
－
0
－
7, 9, 10, 12
Quick stop
0
－
0
1
－
7, 9, 10, 11
Disable operation
0
0
1
1
1
5
Enable operation
0
1
1
1
1
4, 16
Fault reset
－
－
－
－
15
The description of Bit4 and Bit5 in PP mode is as following.
Bit5
Bit4
Description
0
0 → 1
Start the next positioning after the current positioning completes (target reached)