Kollmorgen S300

4.4.2 Object Description
4.4.2.1 Object 6040h: Controlword (DS402)
The control commands are built up from the logical combination of the bits in the control word and
external signals (e.g enable output stage). The definitions of the bits are shown below:
Index 6040
h
Name
control word
Object code
VAR
Data type
UNSIGNED16
Access
rw
PDO mapping
possible
Unit
—
Value range
0 ... 65535
EEPROM
no
Default value
0
Bit assignment im control word
Bit Name Bit Name
0 Switch on 8 Pause/halt
1 Disable Voltage 9 reserved
2 Quick Stop 10 reserved
3 Enable Operation 11 reserved
4 Operation mode specific 12 reserved
5 Operation mode specific 13 Manufacturer-specific
6 Operation mode specific 14 Manufacturer-specific
7 Fault Reset )* 15 Manufacturer-specific
)* Warnings Contouring Error (n03) and Response Monitoring Time (Nodeguarding / Heartbeat
error) are resetted by bit 7 (Fault Reset), too.
Commands in the control word
Command
Bit 7
Fault Reset
Bit 3
Enable
Operation
Bit 2
Quick Stop
Bit 1
Disable
Voltage
Bit 0
Switch on
Transitions
Shutdown X X 1 1 0 2, 6, 8
Switch on X X 1 1 1 3
Disable Voltage X X X 0 X 7, 9, 10, 12
Quick Stop X X 0 1 X 7, 10, 11
Disable Operation X 01115
Enable Operation X 11114,16
Fault Reset 1 XXXX15
Bits marked by an X are irrelevant.
58 CANopen for S300/S700
CANopen Drive Profile 11/2018 Kollmorgen