Object Description; Object 6040H: Control Word (Ds402) - Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile

7.4.2 Object Description

7.4.2.1 Object 6040h: Control word (DS402)

The control commands are built up from the logical combination of the bits in the control word and external sig-
nals (e.g enable output stage). The definitions of the bits are shown below:
Index 6040h
Name control word
Object code VAR
Data type UNSIGNED16
Access R/W
PDO mapping possible
Unit —
Value range 0 to 65535
EEPROM no
Default value 0
Bit assignment im 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)
Commands in the control word
Command Bit 7
Fault
Reset
Shutdown
Switch on
Disable Voltage
Quick Stop
Disable Operation
Enable Operation
Fault Reset
Bits marked by an X are irrelevant.
90 Kollmorgen™ | November 2012
Bit Name
8 Pause/halt
9 reserved
10 reserved
11 reserved
12 reserved
13 Manufacturer-specific
14 Manufacturer-specific
15 Manufacturer-specific
Bit 3 Bit 2
Enable Quick
Operation Stop
X X 1
X X 1
X X X
X X 0
X 0 1
X 1 1
1 X X
Bit 1 Bit 0 Transitions
Disable Switch
Voltage 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