Hiwin D1NCOE User Manual page 20

Drive User Guide
The chart below is the command of switching state using ControlWord (0x6040) by the master
station:
Bit
Command
N/A
N/A
Shutdown
Switch On
Enable Operation
Disable Operation
Disable Voltage
Fault reset
The chart below showing the current state using StatusWord (0x6041) by the drive:
Bit
State
Not Ready to Switch On
Switch On Disabled
Ready to Switch On
Switch On
Operation enabled
Fault
Fault reaction active
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this state, the drive has de-magnetized the motor.
Bit7 Bit3 Bit2
X X
X X
0
X
0 0
0 1
0 0
0
X
0->1
X
Bit6 Bit5
0
X
1
X
0 1
0 1
0 1
0 1
0 0
20
Bit1 Bit0
X X X
X X X
1 1 0
1 1 1
1 1 1
1 1 1
0
X X
X X X
Bit3 Bit2 Bit1
0 0
0 0
0 0
0 0
0 1
1 0
1 1
Transition
Event
0
1
2, 6, 8
3
4
5
7,9
X
Bit0
0 0
0 0
0 1
1 1
1 1
0 0
1 1