02.2004 Communication / CBC CANopen Communication Board
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-61
8.5.6.1 Control word
The bits of the control word must be interconnected in the converter
according to the function diagram.
Some of them must be linked to the control word and some to the
technology control word or the B-Pos control word of the
MASTERDRIVES system.
The control word in the CANopen profile also includes manufacturer-
specific bits. These can be freely connected within the
MASTERDRIVES. A variety of control functions can be implemented
via the MASTERDRIVES control word in this manner (see function
diagrams 8513 and 8517).
6040h control word
Bit Name
0 switch on
1 disable voltage (please note: Implemented with OFF2 only)
2 quick stop
3 enable operation
Profile
position
mode
Profile
velocity
mode
Synchronous
mode
Homing mode
Torque
Profile mode
Setup mode 4
new
setpoint
reserved
synchronous
operation start
homing
operation start
reserved reserved
5
change_set_
immediately
reserved reserved reserved reserved reserved
6
absolute/
relative
reserved reserved reserved reserved [F_S]
7 reset fault
8 halt (not in synchronous mode, automatic single block mode, automatic position mode)
9 Reserved
10 Reserved
11
J-FWD
[D_FWD]
reserved reserved reserved reserved
J-FWD
[D_FWD]
12
J-BWD
[D_BWD]
reserved reserved reserved reserved
J-BWD
[D_BWD]
13 user specific
14 user specific
15 user specific
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