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9
PDS Control Objects
9.1
[Controlword (Obj. 6040h)]
[Controlword (Obj. 6040h: 00h)]
Data Type
Access
U16
RW
Description
PDS status switching command is given, or control commands are returned and set.
Use bit 0 to bit 3 and bit 7 in the PDS status transition.
Bit
Name
0
SO
1
EV
2
QS
3
EO
4
OMS
5
OMS
6
OMS
7
FR
8
HALT
9
OMS
10
11
12
13
14
15
■[Bit 4: OMS]
Setting
Symbol
value
*2
1 (pp)
New set-point
*2
3 (pv)
*2
4 (tq)
6 (hm)
HOS
8 (csp)
9 (csv)
10 (cst)
*1
-104 (ct)
*1 Available on servo amplifiers with firmware version B0 or later.
*2 Available on servo amplifiers with firmware version B2 or later.
Mapping
Default
RxPDO
0000h
Description
Switch-on
Enable voltage
Quick stop
Enable operation
Differs depending on the value of [Modes of operation (Obj. 6060h)]. Refer to the following for details.
Page 75 [Bit 4: OMS]
Differs depending on the value of [Modes of operation]. Refer to the following for details.
Page 76 [Bit 5: OMS]
Differs depending on the value of [Modes of operation]. Refer to the following for details.
Page 76 [Bit 6: OMS]
Fault reset
0: Operation ready
1: Pauses the operation according to [Halt option code (Obj. 6050h)].
Refer to the following for details.
Page 76 [Bit 8: OMS]
Differs depending on the value of [Modes of operation]. Refer to the following for details.
Page 77 [Bit 9: OMS]
Description
Obtains a new positioning parameter at bit rising
Homing operation start
0: Do not start homing procedure
1: Start or continue homing procedure
Range
Units
0000h to FFFFh
9.1 [Controlword (Obj. 6040h)]
Save
Parameter
Impossible
9 PDS Control Objects
9
75
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