E6581818
- 27 -
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
6 - Quick
stop active
0 0 1 0 1 1 1 0x0017
7 - Fault
reaction active
0 1 1 1 1 -
8 - Fault 0 1 0 0 0 *0x0008
or
0x0028
: In this state, the value of the bit can be 0 or 1.
*Detected fault following state “6 - Quick stop active”.
Command coding (CiA DS402-2 DSP BV3.0 Table 27)
Bits of the Controlword
fault reset
enable
operation
Quick
stop
enable
voltage
switch on
Command
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Transitions
Shutdown x x 1 1 0 2, 6, 8
Switch on x x 1 1 1 3
Enable operation x 1 1 1 1 4
Disable voltage x x x 0 x 7, 9, 10
Quick stop x x 0 1 x 7, 10, 11
Disable operation x 0 1 1 1 5
Fault reset
↑
x x x x 15
x: Value is of no significance for this command.
Not Ready to switch on
SW: 0xXXX0
START
Switch on disabled
SW: 0xXX40 or 0xXX50
Ready to switch on
SW: 0xXX21 or 0xXX31
Switch on
SW: 0xXX33
Fault
SW: xxxx xxxx x0xx 1000
Fault reaction active
SW: xxxx xxxx x0xx 1111
Operation enable
SW: xxxx xxxx x01x 0111
Quick stop active
SW: xxxx xxxx x00x 0111
(CW: xxxx xxxx 0xxx x110)
2
7 (CW: xxxx xxxx 0xxx x01x or
xxxx xxxx 0xxx xx0x
6 (CW: xxxx xxxx 0xxx x110)
5 (CW: xxxx xxxx 0xxx 0111)
(CW: xxxx xxxx 0xxx x111)
3
(CW: xxxx xxxx 0xxx 1111) 4
11 (CW: xxxx xxxx 0xxx x01x)
10
(CW: xxxx xxxx 0xxx x01x or
xxxx xxxx 0xxx xx0x)
or
freewheel stop
at the terminals
or
modification
of a configuration parameter
9
(CW: xxxx xxxx 0xxx xx0x)
or
STOP key
or
freewheel stop
at the terminals
(CW: xxxx xxxx 0xxx x110) 8
15
(CW: xxxx xxxx 1xxx xxxx)
Fault disappeared and
faults reset
1
14
From any state
0
13
CW: Controlword (0x6040)
SW: Statusword (0x6041)
12
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