User Manual
E727T0005, valid for E-727
BRO, 2019-06-28
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 171 / 240
Phone +49 721 4846-0, Fax +49 721 4846-1019, Email info@pi.ws, www.pi.ws
Control Word
The control word (object 0x6040) contains bits which trigger transitions between the states of the
drive state machine, bits whose function depends on the selected mode of operation, and bits for
manufacturer specific options.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Manufacturer specific reserved Halt
Fault
reset
Operation
mode specific
Enable
operation
Quick
stop
Enable
voltage
Switch
on
Table 1: All bits of the CiA402 control word
The transitions between the drive states are triggered by combinations of bits 0, 1, 2, 3 and 7 of
the control word. If the Quick stop active state is not supported by the EtherCAT master, bit 2 of
the control word must always be set.
Commanding the drive state transitions with combinations of bits 0, 1, 2, 3 and 7:
Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Transition
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
Disable voltage 0 x x 0 x 7, 9, 10, 12
Quick stop 0 x 0 1 x 11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4
Fault reset 0 1 x x X x 15
Table 2: Bits 0 to 3, and 7 of the CiA402 control word
The function of bits 4 to 6 and bit 8 of the control word depends on the selected mode of
operation. For the modes of operation supported by the E-727, these bits are used as follows:
Bit / Operation mode 8 6 5 4
Homing Halt reserved Reserved Homing operation start
Profile Position Halt reserved Change set immediately New setpoint
Cyclic Synchronous Position reserved reserved Reserved reserved
Table 3: Bits 4 to 6, and 8 of the CiA402 control word
With the E-727, the manufacturer specific bits of the control word (bits 11 to 15) are not used.
To Next Page
Loading...
Need help?
General
