0x6040 - Controlword
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x6040 | 0x00 | Controlword | UINT16 | RW | Yes | No | UINT16 | 0x0000 | - |
The controlword is used to:
- Check controller status.
- Check parameters related to operation modes.
Data description:
The binary representation of the object value and its corresponding meaning is as follows:
| Bit number | 15 | … | 9 | 8 | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Reserved | Halt | Fault reset | Mode specific | Enable operation | Quick stop | Enable voltage | Switch on | |||||
Device control commands are generated by a combination of controlword bits.
Command patterns are shown below:
Command | Bit of the controlword | ||||
|---|---|---|---|---|---|
Fault reset | Enable operation | Quick stop | Enable voltage | Switch on | |
Shutdown | 0 | X | 1 | 1 | 0 |
Switch on | 0 | 0 | 1 | 1 | 1 |
Switch on + | 0 | 1 | 1 | 1 | 1 |
Disable voltage | 0 | x | x | 0 | x |
Quick stop | 0 | x | 0 | 1 | x |
Disable operation | 0 | 0 | 1 | 1 | 1 |
Enable operation | 0 | 1 | 1 | 1 | 1 |
Fault reset | 0 to 1 (rising edge) | x | x | x | x |
Bits marked with an '"x" are irrelevant.
The mode specific bits depend on the mode of operation selected. More information can be found in the corresponding section:
- Controlword in open loop vector mode.
- Controlword in open loop scalar mode.
- Controlword in homing mode.
- Controlword in profile position mode.
- Controlword in interpolated position mode.
- Controlword in profile velocity mode.
- Controlword in profile torque mode.
- Controlword in velocity mode.
- Controlword in cyclic synchronous position mode.
- Controlword in cyclic synchronous torque mode
- Controlword in cyclic synchronous velocity mode
Note that Fault reset command will be executed only in a rising edge transition.
If the halt bit is activated (writing a 1) the movement will be stopped using Quick stop deceleration. After releasing the halt bit the system will maintain the position or velocity but it will not continue the previous movement.
When working with BLAC motors with forced alignment method for initial angle determination, the alignment process will be executed when executing the Enable operation command for first time.
Note that the Quick stop bit is activated at a low level.