0x6040 Controlword

This object indicates the received command controlling the PDS FSA.

15 11 10 9 8 7 6 4 3 2 1 0
ms r oms h fr oms eo qs ev so
MSB LSB

LEGEND: ms = manufacturer-specific; r = reserved; oms = operation mode specific; h = halt; fr = fault reset; eo = enable operation; qs = quick stop; ev = enable voltage; so = switch on

Command Bits of the controlword Transitions
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 X 1 1 0 2, 6, 8
Switch on 0 0 1 1 1 3
Switch on + enable operation 0 1 1 1 1 3 + 4 (NOTE)
Disable voltage 0 X X 0 X 7, 9, 10, 12
Quick stop 0 X 0 1 X 7, 10, 11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4, 16
Fault reset   X X X X 15
NOTE Automatic transition to Enable operation state after executing SWITCHED ON state functionality.

Bits 9, 6, 5, and 4 of the controlword are operation mode specific. The halt function (bit 8) behaviour is operation mode specific. If the bit is 1, the commanded motion shall be interrupted, the PDS shall behave as defined in the halt option code. After releasing the halt function, the commanded motion shall be continued if possible.

The bit 10 is reserved for further use; it shall be set to 0. The bits 11, 12, 13, 14, and 15 are manufacturer-specific.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Controlword 0x6040:0 UINT 16 0 readwrite Receive PDO (Outputs)