5 General concepts
Listed in the following table are the bit combinations for the controlword that result in the corresponding state
transitions. An X here corresponds to a bit state that requires no further consideration. The only exception is
the resetting of the error (fault reset): the transition is only requested by the rising edge of the bit.
Command Bit in object 6040
h
Transition
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 X 1 1 0 1, 5, 8
Switch on 0 0 1 1 1 2
Disable voltage 0 X X 0 X 6, 7, 9, 12
Quick stop 0 X 0 1 X 10
Disable
operation
0 0 1 1 1 4
Enable
operation
0 1 1 1 1 3
Fault reset X X X X 13
Holding torque in the Switched on state
Ex works, no holding torque is built up in the Switched on state. If a holding torque is already needed in this
state, the value "1" must be written in 3212
h
:01
h
.
Note
If the Holding torque in the switched on state option is active, changing the operating mode may cause
the motor to jerk.
5.2.1.3 Statusword
Listed in the following table are the bit masks that break down the state of the controller.
Statusword (6041
h
) State
xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switched on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault
After switching on and successfully completing the self-test, the controller reaches the Switch on disabled
state.
5.2.1.4 Operating mode
The set operating mode (6060
h
) does not become active until the Operation enabled state. The actually
active operating mode is displayed in 6061
h
.
The operating mode can only be set or changed in the following states (see states enclosed in a dashed
border in the diagram):
Version: 2.0.1 / FIR-v1650 38
To Next Page
Loading...