Parker TPDM - Page 141

Parker Hannifin Manufacturing Srl user’s manual TPDM
140
INDEX
6040h
Name
Controlword
Object Code
VAR
Data Type
UNSIGNED16
Category
Mandatory
ENTRY DESCRIPTION
Access
rw
PDO Mapping
Possible
Value Range
UNSIGNED16
Default Value
No
DATA DESCRIPTION The bits of the controlwordare defined as follows:
15
11
10
9
8
7
6
4
3
2
1
0
Manufacturer
specific
Reserved Halt
Fault
reset
Operation
mode
specific
Enable
operation
Quick
stop
Enable
voltage
Switch
on
O
O
O
M
O
M
M
M
M
MSB
LSB
0 -Optional
M –Mandatory
BITS 0 – 3 AND 7:
Device control commands are triggered by the following bit patterns in the controlword:
Command
Bit of the controlword
Transitions
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
Table 4: Device control commands (bits marked X are irrelevant, * ... In the state
SWITCHED ON the drive executes the functionality of this state., ** ... It exists no
functionality in the state SWITCHED ON. The drive does not do any in this state.)