Object 6040h: Control word (DS402)
The control commands are built up from the logical combination of the bits in the control word and external signals (e.g enable output stage). The definitions of the bits are shown below:
|
Index |
|
|
Name |
control word |
|
Object code |
VAR |
|
Data type |
UNSIGNED16 |
|
Access |
R/W |
|
PDO mapping |
possible |
|
Unit |
— |
|
Value range |
0 to 65535 |
|
EEPROM |
no |
|
Default value |
0 |
Bit assignment im control word
| Bit | Name | Bit | Name |
|---|---|---|---|
|
0 |
Switch on |
8 |
Pause/halt |
|
1 |
Disable Voltage |
9 |
reserved |
|
2 |
Quick Stop |
10 |
reserved |
|
3 |
Enable Operation |
11 |
reserved |
|
4 |
Operation mode specific |
12 |
reserved |
|
5 |
Operation mode specific |
13 |
Manufacturer-specific |
|
6 |
Operation mode specific |
14 |
Manufacturer-specific |
|
7 |
Reset Fault (only effective for faults) |
15 |
Manufacturer-specific |
Commands in the control word
| Command | Bit 7 Fault Reset | Bit 3 Enable Operation | Bit 2 Quick Stop | Bit 1 Disable Voltage | Bit 0 Switch on | Transitions |
|---|---|---|---|---|---|---|
|
Shutdown |
X |
X |
1 |
1 |
0 |
2, 6, 8 |
|
Switch on |
X |
X |
1 |
1 |
1 |
3 |
|
Disable Voltage |
X |
X |
X |
0 |
X |
7, 9, 10, 12 |
|
Quick Stop |
X |
X |
0 |
1 |
X |
7, 10, 11 |
|
Disable Operation |
X |
0 |
1 |
1 |
1 |
5 |
|
Enable Operation |
X |
1 |
1 |
1 |
1 |
4, 16 |
|
Fault Reset |
1 |
X |
X |
X |
X |
15 |
Bits marked by an X are irrelevant.
Mode-dependent bits in the control word
The following table shows the mode-dependent bits in the control word. Only manufacturer-specific modes are supported at present. The individual modes are set by Object 6060h Modes of operation.
|
Operation mode |
No. |
Bit 4 |
Bit 5 |
Bit 6 |
|---|---|---|---|---|
|
Profile Position Mode (pp) |
01h |
new_setpoint |
change_set_immediately |
absolute/ relative |
|
Profile Velocity Mode (pv) |
03h |
reserved |
reserved |
reserved |
|
Profile Torque Mode (tq) |
04h |
reserved |
reserved |
reserved |
|
Homing Mode (hm) |
06h |
homing_operation_start |
reserved |
reserved |
|
Interpolated Position Mode (ip) |
07h |
Enable Interpolation |
reserved |
reserved |
|
Cyclic sync position Mode (csp) |
08h |
reserved |
reserved |
reserved |
|
Cyclic sync velocity mode (csv) |
09h |
reserved |
reserved |
reserved |
|
Cyclic sync torque mode (cst) |
0ah |
reserved |
reserved |
reserved |
Description of the remaining bits in the control word
The remaining bits in the control word are described below.
Bit 8 Pause If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed for homing or jogging, motion task number, setpoints for digital mode) for the individual modes are retained.
Bit 9,10 These bits are reserved for the drive profile (DS402).
Bit 13, 14, 15 These bits are manufacturer-specific, and reserved at present.
