Object 6040h: Control word (DS402)

The control commands are built up from the logical combination of the bits in the control word and external signals (e.g enable output stage). The definitions of the bits are shown below:

Index

6040h

Name

control word

Object code

VAR

Data type

UNSIGNED16

Access

R/W

PDO mapping

possible

Unit

—

Value range

0 to 65535

EEPROM

no

Default value

0

Bit assignment im control word

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

Manufacturer-specific

6

Operation mode specific

14

Manufacturer-specific

7

Reset Fault (only effective for faults)

15

Manufacturer-specific

Commands in the control word

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, 16

Fault Reset

1

X

X

X

X

15

Bits marked by an  X are irrelevant.

 

Mode-dependent bits in the control word

The following table shows the mode-dependent bits in the control word. Only manufacturer-specific modes are supported at present. The individual modes are set by Object 6060h Modes of operation.

Operation mode

No.

Bit 4

Bit 5

Bit 6

Profile Position Mode (pp)

01h

new_setpointClosedSetpoint is the target value that an automatic control system, for example PID controller, will aim to reach

change_set_immediately

absolute/ relative

Profile Velocity Mode (pv)

03h

reserved

reserved

reserved

Profile TorqueClosedTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist Mode (tq)

04h

reserved

reserved

reserved

HomingClosedThe Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position Mode (hm)

06h

homing_operation_start

reserved

reserved

Interpolated Position Mode (ip)

07h

Enable Interpolation

reserved

reserved

Cyclic sync position Mode (csp)

08h

reserved

reserved

reserved

Cyclic sync velocity mode (csv)

09h

reserved

reserved

reserved

Cyclic sync torqueClosedTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist mode (cst)

0ah

reserved

reserved

reserved

Description of the remaining bits in the control word

The remaining bits in the control word are described below.

Bit 8 Pause If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed for homing or jogging, motion task number, setpoints for digital mode) for the individual modes are retained.
Bit 9,10 These bits are reserved for the drive profile (DS402).
Bit 13, 14, 15 These bits are manufacturer-specific, and reserved at present.