CANBus Networking Manual 47
SDO Description
Transition Event(s) Action(s)
3 Switch On Command None
4 Enable Operation Command
The drive function shall be enabled and all
internal set-points cleared.
5 Disable Operation Command The drive function shall be disabled
6 Shutdown Command None
7 Quick Stop or Disable Voltage Command None
8 Shutdown Command The drive function shall be disabled
9 Disable Voltage Command The drive function shall be disabled
10 Quick Stop or Disable Voltage Command None
11 Quick Stop Command Quick Stop process is initiated
12
Automatic transition when the quick stop func-
tion is completed
The drive function shall be disabled
13 Fault Signal None
14 Automatic Transition The drive function shall be disabled
15 Fault Reset Command The drive function shall be enabled
SDO Description
0x6040 - Control Word
TABLE 4-4. Control Word
Sub-Index 00 Optional N Type U16 Access RW PDO R
Value Range Discrete Default Operation specific
RoboCommand CW
Description The received command in order to control the PDS FSA.
Table 4-4 gives a short description of the object, Table 4-5 the mapping of the respective
variable and Table 4-6 the usage of the bits that are independent to operation mode.
TABLE 4-5. Control Word Mapping
15 11 10 9 8 7 6 4 3 2 1 0
R R OMS H FR OMS EO QS EV SO
MSB LSB
R Reserved, OMS Operation mode specific, H Halt, FR Fault reset,
EO Enable operation QS Quick stop, EV Enable voltage, and SO Switch on
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