6040h, 6840h Controlword - Axis #

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

Index Sub-Index Data Type Access PDO Mappable Description
0x6040 0 Unsigned16 RW RxPDO Drive state machine control word

Bit assignment in 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

 reserved

6

Operation mode specific

14

 reserved

7

Reset Fault (only effective for faults)

15

 reserved

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

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 6060h, 6860h Modes of operation - Axis #.

Operation mode

No.

Bit 4

Bit 5

Bit 6

Profile Position Mode (pp)

01h

New set-point

Use new set-point immediately

0 = Absolute move

1 = Relative move

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

Start homing operation

reserved

reserved

Cyclic sync position Mode (csp)

08h

reserved

reserved

reserved

Description of the remaining bits in the control word

The remaining bits in the control word 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.

Bits 9-15: Unused/Reserved bits

Axis 1

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Controlword - Axis 1 6040h 0h Unsigned16 - - Read/Write Yes

Axis 2

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Controlword - Axis 2 6840h 0h Unsigned16 - - Read/Write Yes