SYNAPTICON SOMANET Circulo 7 - Controlword; General Structure

PP: Profile Position
PV: Profile Velocity
PT: Profile Torque
CSP: Cyclic Synchronous Position
CSV: Cyclic Synchronous Velocity
CST: Cyclic Synchronous Torque
4.1.7.4 Controlword
4.1.7.4.1 General structure
1515
1414
1313
1212
1111
1010
99
88
77
66
55
44
33
22
11
00
ms
ms
ms
ms
ms
r
oms
h
fr
oms
oms
oms
eo
qs
ev
so
N/A
basic
operation mode specific bits
basic
Note
bits 9,10,11,12,13,14 and 15 are not used.
Legend:
Abbr. Meaning
so switched on
ev enable voltage
qs quick stop
eo enable operation
oms operation mode specific
fr fault reset
h halt
oms operation mode specific
r reserved
ms manufacturer specific
State Coding
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