OD_6040_00 Controlword

Function

This object controls the CiA 402 Power State Machine.

Object description

Index 6040h
Object name Controlword
Object Code VARIABLE
Data type UNSIGNED16
Savable yes, category: application
Access read / write
PDO mapping RX-PDO

Description

Parts of the object are, with respect to function, dependent on the currently selected mode.

  • Bit 0: Switch On
    • Value = "0": Not Switch On
    • Value = "1": Switch On
    Value = "1": Switches to the "Switched on" state,
  • Bit 1: Enable voltage
    • Value = "0": Not Enable Voltage
    • Value = "1": Enable Voltage
    Value = "1": Switches to the "Enable voltage" state
  • Bit 2: Quick Stop
    • Value = "0": Not Quick Stop
    • Value = "1": Quick Stop
    Value = "0": Switches to the "Quick stop" state
  • Bit 3: Enable Operation
    • Value = "0": Not Enable Operation
    • Value = "1": Enable Operation
    Value = "1": Switches to the "Enable operation" state
  • Bit 4: Operation Mode Specific
    • Value = "0": Operation Mode Specific
    • Value = "1": Operation Mode Specific
    Meaning is dependent on the selected operating mode
  • Bit 5: Operation Mode Specific
    • Value = "0": Operation Mode Specific
    • Value = "1": Operation Mode Specific
    Meaning is dependent on the selected operating mode
  • Bit 6: Operation Mode Specific
    • Value = "0": Operation Mode Specific
    • Value = "1": Operation Mode Specific
    Meaning is dependent on the selected operating mode
  • Bit 7: Fault Reset
    • Value = "0": No Fault Reset
    • Value = "1": Fault Reset
    Resets an error (if possible)
  • Bit 8: Halt
    • Value = "0": Not Halt
    • Value = "1": Halt
    Value = "1": Triggers a halt; valid in the following modes:
    • Profile Position
    • Velocity
    • Profile Velocity
    • Profile Torque
    • Interpolated Position Mode