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.
- Commands are built up from the logical combination of the bits in the control word and external signals (e.g., enable output stage).
Bit Assignment in 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 |
Coded Commands
|
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 See 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 |
-
- Automatic transition to Enable operation state after executing SWITCHED ON state functionality.
Bits marked by an X are irrelevant.
See Also
