AXIS#.CANOPEN.CONTROLBIT##.MODE

Description

This parameter is used to set a mode to the specified bit in the DS402 control word (AXIS#.CANOPEN​.CONTROLWORD, Controlword Object 6040h). This allows the user to select different functions for Controlword bits 11-15.

Mode Name Description
0 None Control bit ignored
1 MODPDIR

Bit value 0 sets AXIS#.PL.MODPDIR = 1 (positive)

Bit value 1 sets AXIS#.PL.MODPDIR = 2 (negative)


  • If multiple bits in the control word are set to the same mode, the upper bit value overrides the lower bit value.

Examples

Code

Setting bit 11 in the control word to MODPDIR mode:

-->AXIS1.CANOPEN.CONTROLBIT11.MODE
1

-->AXIS1.CANOPEN.CONTROLWORD (control word set via PDO)
0x31

-->AXIS1.PL.MODPDIR
1

-->AXIS1.CANOPEN.CONTROLWORD (control word set via PDO)
0x8031

-->AXIS1.PL.MODPDIR
2

Context

6040h, 6840h Controlword - AxisX

Versions

Action Version Notes
Implemented 02-07-01-000  

General Information

Type Read/Write
Units N/A
Range

0- None

1 - MODPDIR mode

Default Value 0 (None)
Data Type Integer

Stored in Non Volatile Memory

Yes

Variants Supported

EtherCAT and CAN drives: AKD2G-SPC/AKD2G-SPE

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.CANOPEN.CONTROLBIT11.MODE

5003h

0ah

Unsigned8

-

-

Read/Write

No

AXIS1.CANOPEN.CONTROLBIT12.MODE

5003h

0bh

Unsigned8

-

-

Read/Write

No

AXIS1.CANOPEN.CONTROLBIT13.MODE

5003h

0ch

Unsigned8

-

-

Read/Write

No

AXIS1.CANOPEN.CONTROLBIT14.MODE

5003h

0dh

Unsigned8

-

-

Read/Write

No

AXIS1.CANOPEN.CONTROLBIT15.MODE

5003h

0eh

Unsigned8

-

-

Read/Write

No

AXIS2.CANOPEN.CONTROLBIT11.MODE

5103h

0ah

Unsigned8

-

-

Read/Write

No

AXIS2.CANOPEN.CONTROLBIT12.MODE

5103h

0bh

Unsigned8

-

-

Read/Write

No

AXIS2.CANOPEN.CONTROLBIT13.MODE

5103h

0ch

Unsigned8

-

-

Read/Write

No

AXIS2.CANOPEN.CONTROLBIT14.MODE

5103h

0dh

Unsigned8

-

-

Read/Write

No

AXIS2.CANOPEN.CONTROLBIT15.MODE

5103h

0eh

Unsigned8

-

-

Read/Write

No