Beckhoff EL72 1 Series Documentation page 158

EL72x1-0001 (DS402) - Object description and parameterization
Index 6040 Controlword
Index (hex) Name
6040:0 Controlword
Index 6041 Statusword
Index (hex) Name
6041:0 Statusword
Index 605E Fault reaction option code
Index (hex) Name
605E:0 Fault reaction option
code
Index 6060 Modes of operation
Index (hex) Name
6060:0 Modes of operation
Index 6061 Modes of operation display
Index (hex) Name
6061:0 Modes of operation
display
Index 6064 Position actual value
Index (hex) Name
6064:0 Position actual value
Index 6065 Following error window
Index (hex) Name
6065:0 Following error window
158
Meaning
DS402 Controlword [} 101]
Bit 0 : Switch on
Bit 1 : Enable voltage
Bit 2 : reserved
Bit 3 : Enable operation
Bit 4 - 6 : reserved
Bit 7 : Fault reset
Bit 8 - 15 : reserved
Meaning
DS402 Statusword [} 101]
Bit 0 : Ready to switch on
Bit 1 : Switched on
Bit 2 : Operation enabled
Bit 3 : Fault
Bit 4 : reserved
Bit 5 : reserved
Bit 6 : Switch on disabled
Bit 7 : Warning
Bit 8 + 9 : reserved
Bit 10: TxPDOToggle (selection/deselection via
0x60DA [} 160])
Bit 11 : Internal limit active
Bit 12 : (Target value ignored)
Bit 13 - 15 : reserved
Meaning
0: Disable drive function, motor is free to rotate
1: Slow down by slow down ramp
Meaning
This object shall indicate the requested operation
mode
0x08: Cyclic synchronous position mode (CSP)
0x09: Cyclic synchronous velocity mode (CSV)
0x0A: Cyclic synchronous torque mode (CST)
0x0B: Cyclic synchronous torque mode with commuta-
tion angle (CSTCA)
Meaning
This object shall provide the actual operation mode
Meaning
Position
Meaning
Version: 3.3
Data type Flags Default
UINT16 RO 0x0000 (0
Data type Flags Default
UINT16 RO 0x0000 (0
Data type Flags Default
ENUM16BIT RW 0
Data type Flags Default
UINT8 RW 0x00 (0
Data type Flags Default
UINT8 RO 0x00 (0
Data type Flags Default
UINT32 RO 0x00000000
(0
dec
Data type Flags Default
RW
)
dec
)
dec
)
dec
)
dec
)
EL72x1