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. 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 | Disable Voltage |
| 2 | Quick Stop |
| 3 | Enable Operation |
| 4 | Operation mode specific |
| 5 | Operation mode specific |
| 6 | Operation mode specific |
| 7 | Reset 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 6-7: Bit Assignment in Control Word
The commands are coded as given in the table below.
| Command | Bits of the control word | Transitions | ||||
| Bit 7 | Bit 3 | Bit 2 | Bit 1 | Bit 0 | ||
|
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 |
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.
See Also
