E6581818
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6.1.3. Object 0x6040: Controlword
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ms r oms h fr oms eo qs ev so
MSB LSB
ms = manufacturer-specific
(bit11: 0 = Forward direction asked, 1 = Reverse direction asked);
r = reserved;
oms = operation mode specific;
h = halt;
fr = fault reset;
eo = enable operation;
qs = quick stop;
ev = enable voltage;
so = switch on
6.1.4. Object 6041: Statusword
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ms oms ila tr rm ms w sod qs ve f oe so rtso
MSB LSB
ms = manufacturer-specific;
oms = operation mode specific;
ila = internal limit active;
rm = remote;
w = warning;
sod = switch on disabled;
qs = quick stop;
ve = voltage enabled;
f = fault;
oe = operation enabled;
so = switched on;
rtso = ready to switch on
bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0
Status
Switch on
disabled
Quick
stop
Voltage
enabled
Fault Operation
enabled
Switched
on
Ready to
switch on
Status
Word
1 - Not ready
to switch on
0 0 0 0 0 -
2 - Switch on
disabled
1 0 0 0 0 0x0040
3 - Ready to
switch on
0 1 0 0 0 1 0x0021
4 - Switched
on
0 1 1 0 0 1 1 0x0033
5 - Operation
enabled
0 1 1 0 1 1 1 0x0037
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