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5
Device Control
Bit
Value
0
0001
h
1
0002
h
2
0004
h
3
0008
h
4
0010
h
5
0020
h
6
0040
h
7
0080
h
8
0100
h
9
0200
h
10
0400
h
11
0800
h
12
1000
h
13
2000
h
14
4000
h
15
8000
h
Tab. 5.3
Bit assignment of the controlword
As already comprehensively described, status transitions can be carried out with the bits 0 ... 3. The
commands necessary for this are presented again here in an overview. The Fault Reset command is
generated by bit 7 through a positive edge change (from 0 to 1).
Command:
Shutdown
Switch On
Disable Voltage
Quick Stop
Disable Operation
Enable Operation
Fault Reset
Tab. 5.4 Overview of all commands (x = not relevant)
As some status modifications require a certain amount of time, all status modifications
triggered via the controlword must be read back via the statusword. Only when the re-
quested status can also be read in the statusword, may a further command be written via
the controlword.
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Function
Control of the status transitions.
These bits are evaluated together.
new_set_point/start_homing_operation/enable_ip_mode
change_set_immediately
absolute/relative
reset_fault
halt
reserved – set to 0
reserved – set to 0
reserved – set to 0
reserved – set to 0
reserved – set to 0
reserved – set to 0
reserved – set to 0
Bit 7
Bit 3
0080
0008
h
x
x
x
x
x
x
x
x
x
0
x
1
0
1
x
Bit 2
Bit 1
0004
0002
h
h
1
1
1
1
x
0
0
1
1
1
1
1
x
x
Bit 0
0001
h
h
0
1
x
x
1
1
x
95
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