6040h, 6840h Controlword - AxisX
The control commands are built from the logical combination of the bits in the controlword and external signals (example: enable output stage).
Bit assignment in controlword
| Bit | Name |
|---|---|
|
0 |
Switch on |
|
1 |
Disable voltage |
|
2 |
Quick stop |
|
3 |
Enable operation |
|
4 |
Operation mode specific |
|
5 |
Operation mode specific |
|
6 |
Operation mode specific |
|
7 |
Reset fault (only effective for faults) |
|
8 |
Pause/halt |
|
9 |
Operation mode specific |
|
10 |
Reserved |
| 11 | AXIS#.CANOPEN.CONTROLBIT11.MODE |
| 12 | AXIS#.CANOPEN.CONTROLBIT12.MODE |
| 13 | AXIS#.CANOPEN.CONTROLBIT13.MODE |
| 14 | AXIS#.CANOPEN.CONTROLBIT14.MODE |
| 15 | AXIS#.CANOPEN.CONTROLBIT15.MODE |
Controlword bits 11-15 mode
Controlword bits 11-15 are defined to be manufacturer specific by the DS402 standard. For AKD2G, specific modes can be set for each bit that defines the behavior. See AXIS#.CANOPEN.CONTROLBIT##.MODE for available mode descriptions.
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, 6860h Modes of operation - AxisX.
| Operation Mode | No. | Bit 4 | Bit 5 | Bit 6 | Bit 9 |
|---|---|---|---|---|---|
| Analog velocity | FEh | reserved | reserved | reserved | reserved |
| Analog torque | FFh | reserved | reserved | reserved | reserved |
| Cyclic sync position Mode (csp) | 08h | reserved | reserved | reserved | reserved |
| Cyclic sync velocity mode (csv) | 09h | reserved | reserved | reserved | reserved |
| Electronic Gearing | FDh | reserved | reserved | reserved | reserved |
| Homing mode (hm) | 06h | Start homing operation | reserved | reserved | reserved |
| Profile position mode (pp) | 01h | New set-point | Use new set-point immediately |
0 - Absolute move 1 - Relative move |
Blend / only the fly move once target position is reached |
| Profile torque mode (tq) | 04h | reserved | reserved | reserved | reserved |
| Profile velocity mode (pv) | 03h | reserved | 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.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Controlword - Axis 1 | 6040h | 0 | Unsigned16 | - | - | Read/Write | Yes | All |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Controlword - Axis 2 | 6840h | 0 | Unsigned16 | - | - | Read/Write | Yes | All |
