6 Device Control
160 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
EXAMPLE
The above example shows which bits in the controlword need to be set in order to enable the motor
controller. Now the newly written status should be read out of the statusword:
Transition from SWITCH_ON_DISABLED to OPERATION_ENABLE:
1. Write status transition 2 into the controlword.
2. Wait until the status READY_TO_SWITCH_ON is displayed in the statusword.
Transition 2: controlword = 0006
h
Wait until (statusword & 006F
h
) = 0021
h
1)
3. Status transition 3 and 4 can be written combined into the controlword.
4. Wait until the status OPERATION_ENABLE is displayed in the statusword.
Transition 3+4: controlword = 000F
h
Wait until (statusword & 006F
h
) = 0027
h
1)
Note:
The example assumes that no further bits are set in the controlword (for the transitions, only the bits
0 … 3 are important).
1) To identify the statuses, bits that are not set must also be evaluated (see table). For that reason, the statusword must be
masked correspondingly.
6.1.5 Status words (statuswords)
Object 6041
h
: statusword
Index 6041
h
Name statusword
Object Code VAR
Data Type UINT16
Access ro
PDO Mapping yes
Units –
Value Range –
Default Value –
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