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The model number will indicate what kind of fieldbus you have. Find the label on the side of the device, where "Model No:" is indicated. Modbus is included with all models.

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The model number will indicate what kind of function safety you have. Find the label on the side of the device, where "Model No:" is indicated.

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6040h, 6840h Controlword - Axis #

The control commands are built up from the logical combination of the bits in the controlword and external signals (example: enable output stage).

Index Sub-Index Data Type Access PDO Mappable Description
6040h 0 Unsigned16 RW RxPDO Drive state machine controlword

Bit assignment in controlword

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

reserved

6

Operation mode specific

14

reserved

7

Reset fault (only effective for faults)

15

reserved

Commands in the controlword

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

Fault reset

1

X

X

X

X

15

Bits marked by an X are irrelevant.

Mode-dependent bits in the controlword

The following table shows the mode-dependent bits in the controlword. Only manufacturer-specific modes are supported at present. The individual modes are set by object 6060h.

Operation Mode

No.

Bit 4

Bit 5

Bit 6

Analog velocity FEh reserved reserved reserved
Analog torque FFh reserved reserved reserved

Profile position mode (pp)

01h

New set-point

Use new set-point immediately

0 = Absolute move

1 = Relative move

Profile velocity mode (pv)

03h

reserved

reserved

reserved

Profile torque mode (tq)

04h

reserved

reserved

reserved

Homing mode (hm)

06h

Start homing operation

reserved

reserved

Cyclic sync position Mode (csp)

08h

reserved

reserved

reserved

Description of the remaining bits in the controlword

The remaining bits in the controlword that are not used for drive state machine commands or operation mode specific commands are used for special operations:

Bit 8 – Pause/Halt: If bit 8 is set, then the drive halts (pauses) in all modes. The set-points (speed for homing or jogging, motion task number, setpoints for digital mode) for the individual modes are retained.

Bits 9-15: Unused/reserved bits

Axis 1

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Controlword - Axis 1 6040h 0h Unsigned16 - - Read/Write Yes

Axis 2

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Controlword - Axis 2 6840h 0h Unsigned16 - - Read/Write Yes

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