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State Machine Control Commands
Switching states of the State Machine can be done through combinations of
Controlword (0x6040) bits setting, as described in the table below:
Command
Shutdown
Switch on
Switch on
+ Enable operation
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset
Table 22. State Machine Control Command
Statusword Bit Names (0x6041)
You can check the state of the State Machine through bit combinations of
the Statusword (0x6041), as described in the table below:
Command
Not ready to switch
on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Fault reaction active
Fault
Bit No.
Data Description
0
Ready to switch on
1
Switched on
2
Operation enabled
3
Fault
4
Voltage enabled
5
Quick stop
6
Switched on disabled
7
Warning
8
-
P series EtherCAT Drive User Guide
Parker Hannifin
Controlword bits (0x6040)
Bit 7
Bit 3
Bit 2
x
x
1
x
0
1
x
1
1
x
x
x
x
x
0
x
0
1
x
1
1
0 → 1
x
x
Statusword bits (0x6041)
Bit 6
Bit 5
Bit 4
0
0
x
1
1
x
0
1
x
0
1
x
0
1
x
0
1
x
0
1
x
State Machine
Bit 1
Bit 0
1
0
1
1
1
1
0
x
1
x
1
1
1
1
x
x
Bit 3
Bit 2
Bit 1
0
0
0
0
0
0
0
0
0
1
1
1
1
0
Note
For more information,
refer to 10.1.4 CiA402 Objects.
switching
2, 6, 8
3
3 + 4
7, 9, 10,12
7, 10,11
5
4, 16
15
Bit 0
0
0
0
0
0
1
1
1
1
1
1
1
0
0
72
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