SMC Networks LECSN-T Series - 18.5.2 Controlword;Control DI; 18.5.2.1 Bit definition of Controlword

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18．EtherCAT COMMUNICATION
18.5.2 Controlword/Control DI
The FSA state can be switched and control commands for the functions of the drive can be issued by
rewriting the objects of Controlword (6040h) and Control DI (2D01h to 2D03h) from the master (upper side).
Use 6040h to issue control commands defined with CiA 402. Use 2D01h to 2D03h to issue control
commands of the other manufacturer functions.
Index
Sub
Objec
t
Name
Data
Type
Acces
s
Description
6040h
VAR
Controlword
U16
rw
2D01
h
VAR
Control DI 1
U16
rw
Control commands to control
the driver can be set.
2D02
h
Control DI 2
2D03
h
Control DI 3
18.5.2.1 Bit definition of Controlword
Controlword (6040h) can control the FSA state and issue control commands. Use Bit 0 to Bit 3 and Bit 7 for
the FSA state. The following table shows the bit definition of Controlword (6040h).
Bit
Symbol
Description
0
SO
Switch-on
1
EV
Enable voltage
2
QS
Quick stop
3
EO
Enable operation
4
OMS
Differs depending on Modes of operation (6060h). (Refer to section 5.4.)
5
6
7
FR
Fault reset
8
HALT
0: Operation ready
1: Temporary stop
9
OMS
Differs depending on Modes of operation (6060h). (Refer to section 5.4.)
10
The value at reading is undefined. Set "0" at writing.
11
12
13
14
15