0x6040

0x6040:0 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

CommandBits of the controlwordTransitions
Bit 7Bit 3Bit 2Bit 1Bit 0
Shutdown0X1102, 6, 8
Switch on001113
Switch on + enable operation011113 + 4 (NOTE)
Disable voltage0XX0X7, 9, 10, 12
Quick stop0X01X7, 10, 11
Disable operation001115
Enable operation011114, 16
Fault resetXXXX15
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.

Object Type OBJECT_TYPE_VAR
Index 0x6040
SubIndex 0
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data 0
Unit
Access readwrite
Category mandatory
PDO Mapping Receive PDO (Outputs)