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