Table of Contents
Advertisement
Related object
Index
6040h
6041h
Controlword (6040h)
This object issues a command from the master station (controller) to the slave stations (servo amplifiers).
Index
6040h
The current control command status can be checked.
In addition, control commands can be written.
The following table lists the bits of this object. The slave can be controlled with bit 0 to bit 3 and bit 7.
Bit
0
1
2
3
4 to 6
7
8
9
10 to 15
The following table lists the commands issued to the servo amplifier. Turn on the bit that corresponds to the command.
Command
Command bit setting of Controlword
Bit 7
Fault Reset
Shutdown
0
Switch On
0
Disable Voltage
0
Quick Stop
0
Disable Operation
0
Enable Operation
0
0 1
Fault Reset
*1 To prevent the command from failing to be recognized in faulty communication, hold the state in which Bit 7 is "1" for at least 10 ms for
the Fault Reset command. When Bit 7 is turned on, be sure to turn it off.
5 CiA 402 DRIVE PROFILE
58
5.1 State machine control of the servo amplifier
Sub Index
Access
0
rw
0
ro
Sub Index
Access
0
rw
Symbol
SO
EV
QS
EO
OMS
FR
HALT
Bit 3
Enable
Operation
0
0
1
*1
Name
Controlword
Statusword
Name
Controlword
Description
Switch On
Enable Voltage
Quick Stop
Enable Operation
Operation Mode Specific
Differs depending on Modes of operation (6060h). (Page 62 SERVO MOTOR
DRIVING)
Fault Reset
Halt
0: Operation ready
1: Temporary stop
Operation Mode Specific
Differs depending on Modes of operation (6060h). (Page 62 SERVO MOTOR
DRIVING)
Reserved
The value at reading is undefined. Set "0" when writing.
Bit 2
Bit 1
Quick Stop
Enable Voltage
1
1
1
1
0
0
1
1
1
1
1
Data Type
Default
U16
U16
Data Type
Default
U16
Transition No.
Bit 0
Switch On
0
(2)/(6)/(8)
1
(3)
(7)/(9)/(10)/(12)
(7)/(10)/(11)
1
(5)
1
(4)
(15)
Advertisement
Table of Contents
