User Manual CANopen/EtherCAT
50
9.1.2 Control word DS402
Object 6040h-control word
The object is also mapped in the parameter 2208-MP_Controlword. The control word
contains bits for:
the controlling of the state,
the controlling of operating modes and
manufacturer-specific options.
The bits of the control word are defined as follows:
15 11 10 9 8 7 6 4 3 2 1 0
Manufacturer-
specific
reserved Stop
Fault
reset
Operation
mode
specific
Enable
operation
Quick
stop
Enable
voltage
Switch
on
O O O M O M M M M
MSB LSB
O - Optional M - Mandatory
Table Control word DS402
–
–
–
Bits 0 - 3 and 7:
DEVICE CONTROL COMMANDS are triggered by the following schema in the control
word:
Command
Bit of the control word
Transi-
tions
Fault
reset
Enable
operation
Quick-
Stop
Enable-
voltage
Switch
on
Shutdown 0 X 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 X X 0 X 7, 9, 10, 12
Quick Stop 0 X 0 1 X 7, 10, 11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4, 16
Fault reset X X X X 15
bits marked X are irrelevant,
* ... In the state SWITCHED ON the drive executes the functionality of this state.
** .. There is no functionality in the state SWITCHED ON. The drive does not do anything in
this state.
Table Device control commands
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