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AKD EtherCAT | 4 EtherCAT Profile
4.4.2 Commands in the Control Word
Bit assignment in the control word
Bit
0
1
2
3
4
5
6
7
Commands in the control word
Command
Shutdown
Switch on
Disable Voltage
Quick Stop
Disable Operation
Enable Operation
Fault Reset
Bits labeled X are irrelevant. 0 and 1 indicate the status of individual bits.
Mode-dependent bits in the control word
The following table shows the mode-dependent bits in the control word. Only manufacturer-
specific modes are supported at present. The individual modes are set by Object 6060h
Modes of operation.
Operation mode
Profile Position Mode (pp)
Profile Velocity Mode (pv)
Profile Torque Mode (tq)
Homing Mode (hm)
Interpolated Position Mode (ip) 07h
Cyclic synchronous position
mode
Description of the remaining bits in the control word
Bit 8: (Pause) If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed
for homing or jogging, motion task number, setpoints for digital mode) for the individual
modes are retained.
Bit 9,10: These bits are reserved for the drive profile (DS402).
Bit 13, 14, 15: These bits are manufacturer-specific, and reserved at present.
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Name
Switch on
Disable Voltage
Quick Stop
Enable Operation
Operation mode specific
Operation mode specific
Operation mode specific
Reset Fault (only effective for faults)
Bit 7
Fault
Enable Oper-
Reset
X
X
X
X
X
X
1
No Bit 4
Bit
8
9
10
11
12
13
14
15
Bit 3
Bit 2
Bit 1
Quick
Disable
ation
Stop
Voltage
X
1
X
1
X
X
X
0
0
1
1
1
X
X
01h new_setpoint
03h reserved
04h reserved
06h homing_operation_
start
08h reserved
Name
Pause/halt
reserved
reserved
reserved
reserved
Manufacturer-specific
Manufacturer-specific
Manufacturer-specific
Bit 0
Transitions
Switch
On
1
0
2, 6, 8
1
1
3
0
X
7, 9, 10, 12
1
X
7, 10, 11
1
1
5
1
1
4, 16
X
X
15
Bit 5
Bit 6
change_set_
absolute/relative
immediately
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
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