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5
Device Control
Caution
Output stage blocked ...
... means that the power semiconductors (transistors) can no longer be actuated. If this
status is taken with a turning motor, it runs out unbraked. If a mechanical motor brake is
present, it is automatically actuated.
The signal does not guarantee that the motor is really voltage-free.
Caution
Output stage enabled ...
... means that the motor is actuated and controlled corresponding to the selected oper-
ating mode. An existing mechanical motor brake will be released automatically. In case
of a defect or incorrect parametrisation (motor current, number of poles, resolver offset
angle, etc.), this can result in uncontrolled behaviour of the drive.
5.1.3
Controlword (Controlword)
Object 6040
: controlword
h
With the controlword, the current status of the motor controller can be revised or a specific action (e.g.
start of homing) triggered directly. The function of bits 4, 5, 6 and 8 depends on the current operating
mode (modes_of_operation) of the motor controller, which is explained after this chapter.
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
94
6040
h
controlword
VAR
UINT16
rw
yes
–
–
0
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
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