Drive Profile (Cia402) Support; 0X6040 Controlword - Control Techniques Nidec SI-EtherCAT User Manual

7

Drive profile (CiA402) support

SI-EtherCAT supports the following modes of the CiA402 profile:
• Homing Mode
• Cyclic Synchronous Position Mode
• Interpolated Position Mode
• vl velocity mode
• Cyclic Synchronous Velocity Mode
• Cyclic Synchronous Torque Mode
• Profile Position Mode
7.1

0x6040 Controlword

This provides the primary method of controlling the behavior of the drive e.g. enabling, disabling,
resetting, etc. Table 7-1 describes the format of the control word. The individual bits are used in
combinations (see Table 7-2) to sequence the drive through the state machine described in
Figure 7-1.
Table 7-1 Controlword
0x6040 Control Word
Access: RW
Default: N/A
PDO Mappable: RxPDO
Provides the primary method of controlling the behaviour of the drive.
Bit 0 - See command table.
Bit 1 - See command table.
Bit 2 - See command table.
Bit 3 - See command table.
Description:
Bit 4 - HM only - Start homing, PP only - New Setpoint
Bit 5 - PP only -Immediate Setpoint change
Bit 6 - PP only - Relative move Bit 7 - See command table.
Bit 8 - IP, VL, HM and PP only - halt
Bit 9 - PP only -Change on setpoint.
15 14 13 12
r
LEGEND: ms = manufacturer-specific; r = reserved; oms = operation mode specific; h = halt;
fr = fault reset; hos = homing operation start; eo = enable operation; qs = quick stop; ev = enable voltage;
so = switch on
Table 7-2 Command coding
Command
Shutdown
Switch on
Switch on + enable
operation
Disable voltage
Quick stop
Disable operation
56
Range: Bit mask
11 10 9 8
oms h
Bit 7 Bit 3
0 X
0 0
0 1
0 X
0 X
0 0
Size: 2 bytes
Type: Bit Mask / UINT
Motion Profiles: All
7 6 5
fr oms
Bits of the controlword
Bit 2
1
1
1
X
0
1
Unit: N/A
4 3 2 1
hos eo qs ev
Bit 1 Bit 0
1
1
1
0 X
1 X
1
SI-EtherCAT User Guide
0
so
0
1
1
1