Controlword

Index.Sub	6040.0H
Data Type	Unsigned16
Access	Read/Write
PDO Mappable	RX_PDO (1)
Unit	--
Range	--
Default Value	--
Store Supported	No
Description	The Controlword controls the state machine, operating modes and manufacturer specific options. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Manufacturer specific Reserved Halt Fault reset Operation mode specific Enable Operation Quick Stop Enable Voltage Switch on O O O M O M M M M   Details of Bit0, Bit1, Bit2, Bit3, Bit7 : Command Bit7 Bit3 Bit2 Bit1 Bit0 Shutdown X X 1 1 0 Switch On X X 1 1 1 Disable Voltage X X X 0 X Quick Stop X X 0 1 X Disable Operation X 0 1 1 1 Enable Operation X 1 1 1 1 Fault Reset X X X X
Notes	(1) Available with firmware V00r74 or superior.

Controlword for Interpolated Position Mode (ip)

15

14

13

12

11

10

9

8

7

6

5

4

3

2

1

0

Manufacturer specific

Reserved

Halt

Fault reset

Operation mode specific

Enable Operation

QuickStop

Enable Voltage

Switch on

O

O

O

M

O

M

M

M

M

X

X

X

X

X

X

X

Halt

X

reserved

Enable ip mode

X

X

X

X

 

Bit	Name	Value	Description
4	Enable ip mode	0	Interpolated position mode inactive
		1	Interpolated position mode active
8	Halt	0	Execute the instruction of bit 4
		1	Axis shall be stopped accordingly to Halt_option_code object

Controlword for Profile Position Mode (pp)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manufacturer specific					Reserved		Halt	Fault reset	Operation mode specific			Enable Operation	QuickStop	Enable Voltage	Switch on
O					O		O	M				M	M	M	M
X	X	X	X	X	X	X	Halt	X	Abs / Rel	Change set immediately	New set point	X	X	X	X

 

Bit	Name	Value	Description
4	New set-point	0	Does not assume Target Position
		1	Assume Target Position
5	Change set immediately	0	Finish the actual positioning and then start the next positioning
		1	Interrupt the actual positioning and start the next positioning
6	Abs / Rel	0	Target Position is an absolute value
		1	Target Position is a relative value
8	Halt	0	Execute positioning
		1	Axis shall be stopped accordingly to Halt_option_code object

Controlword for Homing Mode (hm)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manufacturer specific					Reserved		Halt	Fault reset	Operation mode specific			Enable Operation	QuickStop	EnableVoltage	Switch on
O					O		O	M				M	M	M	M
X	X	X	X	X	X	X	Halt	X	reserved		Homing operation start	X	X	X	X

 

Bit	Name	Value	Description
4	Homing operation Start	0	Homing mode inactive
		0 → 1	Start homing mode
		1	Homing mode active
		1 → 0	Interrupt homing mode
8	Halt	0	Execute the instruction of bit 4
		1	Axis shall be stopped accordingly to Halt_option_code object

Controlword for Profile Velocity Mode (pv)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manufacturer specific					Reserved		Halt	Fault reset	Operation mode specific			Enable Operation	QuickStop	EnableVoltage	Switch on
O					O		O	M				M	M	M	M
X	X	X	X	X	X	X	Halt	X	X	X	X	X	X	X	X

Bit	Name	Value	Description
8	Halt	0	Execute the motion
		1	Axis shall be stopped accordingly to Halt_option_code object

Controlword for Cyclic Synchronous Position Mode (csp)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manufacturer specific					Reserved		Halt	Fault reset	Operation mode specific			Enable Operation	QuickStop	EnableVoltage	Switch on
O					O		O	M				M	M	M	M
X	X	X	X	X	X	X	Halt	X	X	X	X	X	X	X	X

Bit	Name	Value	Description
8	Halt	0	Execute the motion
		1	Axis shall be stopped accordingly to Halt_option_code object

Note:  The Halt bit is not available in EtherCAT fieldbus.

Controlword for Cyclic Synchronous Velocity Mode (csv)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manufacturer specific					Reserved		Halt	Fault reset	Operation mode specific			Enable Operation	QuickStop	EnableVoltage	Switch on
O					O		O	M				M	M	M	M
X	X	X	X	X	X	X	Halt	X	X	X	X	X	X	X	X

 

Bit	Name	Value	Description
8	Halt	0	Execute the motion
		1	Axis shall be stopped accordingly to Halt_option_code object

 Note: The Halt bit is not available in EtherCAT fieldbus.

Controlword for Velocity Mode (vl)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manufacturer specific					Reserved		Halt	Fault reset	Operation mode specific			Enable Operation	Quick Stop	Enable Voltage	Switch on
O					O		O	M	O	O	O	M	M	M	M
X	X	X	X	X	X	X	Halt	X	Reference ramp	Unlock ramp	Enable ramp	X	X	X	X

 

Bit	Name	Value	Description
4	Enable ramp	0	Velocity demand value shall be controlled in any other (manufacturer-specific) way
		1	Velocity demand value accords to ramp output value
5	Unlock ramp	0	Ramp output value is locked to current output value
		1	Ramp output value follows ramp input value
6	Reference ramp	0	Ramp input value is set to zero
		1	Ramp input value accords to ramp reference
8	Halt	0	Execute motion
		1	Stop axle

Controlword for Profile Torque Mode (tq)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manufacturer specific					Reserved		Halt	Fault reset	Reserved			Enable Operation	Quick Stop	Enable Voltage	Switch on
O					O		O	M	O	O	O	M	M	M	M
X	X	X	X	X	X	X	X	X	X	X	X	X	X	X	X

 

Bit	Name	Value	Description
8	Halt	0	The motion shall be executed or continued
		1	Axis shall be stopped according to the Halt option code (605Dh)

Controlword for Cyclic Synchronous Torque Mode (cst)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manufacturer specific					Reserved		Halt	Fault reset	Reserved			Enable Operation	Quick Stop	Enable Voltage	Switch on
O					O		O	M	O	O	O	M	M	M	M
X	X	X	X	X	X	X	X	X	X	X	X	X	X	X	X

The cyclic synchronous torque mode uses no mode-specific bits of the Controlword.

Controlword for Feedback Sensor Calibration Mode (fsc)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manufacturer specific					Reserved		Halt	Fault reset	Reserved			Enable Operation	Quick Stop	Enable Voltage	Switch on
O					O		O	M	O	O	O	M	M	M	M
X	X	X	X	X	X	X	X	X	X	X	Start Calibration	X	X	X	X

 

Bit	Name	Value	Description
4	Start Calibration	0	Calibration procedure inactive
		0 → 1	Start Calibration procedure
		1	Calibration procedure active
		1 → 0	Interrupt Calibration procedure