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CANopen Control Word

The status machine for the control word corresponds to the CANopen status machine.

The control word indicates the received command controlling the state machine. It is only read during Operational status. The control commands allow the manipulation of the state of a drive by setting its control word (see also ECATSetControl). Such commands are built up from the logical combination of the bits in the control word and external signals (e.g. enable output stage).

Bits definition of the control word

Bit	Name
0	Switch on
1	DisableRemoval of the ENABLE signal. Disables power stage. Voltage
2	Quick Stop
3	EnableEnable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive. Operation
4	Operation mode specific
5	Operation mode specific
6	Operation mode specific
7	ResetNew start of the microprocessor Fault (only effective for faults)
8	Pause/halt
9	reserved
10	reserved
11	reserved
12	reserved
13	Manufacturer-specific
14	Manufacturer-specific
15	Manufacturer-specific

Table 5-7: Bit Assignment in Control Word

The commands are coded as given in the table below.

Command	Bits of the control word					Transitions
Command	Bit 7	Bit 3	Bit 2	Bit 1	Bit 0	Transitions
Shutdown	0	X	1	1	0	2,6,8
Switch on	0	0	1	1	1	3
Switch on + enable operation	0	1	1	1	1	3 + 4 (Note)
Disable voltage	0	X	X	0	X	7,9,10,12
Quick stop	0	X	0	1	X	7,10,11
Disable operation	0	0	1	1	1	5
Enable operation	0	1	1	1	1	4,16
Fault reset	up	X	X	X	X	15

Table 5-8: Command Coding

Note: automatic transition to Enable operation state after executing SWITCHED ON state functionality.

Bits marked by an X are irrelevant.

For more details about the Control Word in the AKD™ CANopen Communication, click here.