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0x6040 - Control Word

Index

Sub Index

Name

Data Type

Acc.

Pdo Map.

NVM

Value range

Default value

Units

0x6040

0x00

Control Word

UINT16

RW

Yes

No

UINT16

0x0000

-

The control word register allows operating the drive state machine and several modules.

Data description

The binary representation of the control word value and its corresponding meaning is as follows:

Bit number

15

11

109

8

7

6

5

4

3

2

1

0


Manuf. specificReservedMode specificHaltFault resetMode specificEnable operationQuick stopEnable voltageSwitch on

State machine dedicated bits


Device control commands are generated by a combination of control word bits.

Command patterns are shown below:

Command

Bit of the control word



Fault reset

Enable operation

Quick stop

Enable voltage

Switch on

Typical control word value (decimal)

Shutdown

0

X

1

1

0

6

Switch on

0

0

1

1

1

7

Switch on +
enable operation

0

1

1

1

1

15

Disable voltage

0

X

X

0

X

0

Quick stop

0

X

0

1

X

2 or 11

Disable operation

0

0

1

1

1

7

Enable operation

0

1

1

1

1

15

Fault reset

0 to 1 (rising edge)

X

X

X

X

128

Bits marked with an "X" are irrelevant.

The controller supports the following events and actions.

Transition

Event

Action

0

Automatic transition after power-on or reset application.

Drive device self-test and/or self initialization is performed.

1

Automatic transition after initialization.

Communications are activated.

2

Shutdown command received.

None.

3

Switch on command received.

The high-level power is switched on.

4

Enable operation command received.

The drive function is enabled.

5

Disable operation command received.

The drive function is disabled.

6

Shutdown command received.

The high-level power is switched off.

7

Quick stop or disable voltage command received.

None.

8

Shutdown command received.

The drive function is disabled, and the high-level power is switched off.

9

Disable voltage command received.

The drive function is disabled, and the high-level power is switched off.

10

Disable voltage or quick stop command received.

The high-level power is switched off.

11

Quick stop command received.

The quick stop function is started.

12

Automatic transition when the quick stop function is completed or disable voltage command is received from control device (depending on Quick stop option code register).

The drive function is disabled, and the high-level power is switched off.

13

Fault signal.

The configured fault reaction function is executed.

14

Automatic transition.

The drive function is disabled, and the high-level power is switched off.

15

Fault reset command received.

A reset of the fault condition is carried out, if no fault exists currently on the drive. In this situation, after leaving the Fault state, the Fault reset bit in the control word is cleared by the control device.

Halt bit

Halt bit works in the following way:

Halt

Description

1

In operation enabled state, the active movement will decelerate to 0 velocity as long as the Halt option code is not set to "do nothing". New absolute set-points performed while this bit is active will be taken into account after this bit is set to 0, as long as no operation mode change has happened.

0The motor can run normally. If Halt bit is set to 0 after being set to 1, a new set-point latch may be necessary.

Specific mode bits

The control word includes 3 mode-specific bits that change their meaning in function of the mode of operation.

Control word in homing mode

The binary representation of the specific control word bits and its meaning is as follows: 

Bit number:

15

9

8

7

6

5

4

3

0


-

-

-

-

Homing operation start

-


The action taken is described below, depending on the value of each bit:

Name

Value

Description

Homing operation start


0

Do not start homing procedure

1

Start or continue homing procedure

Control word in profile position mode

The binary representation of the control word is as follows:

Bit number:

15

9

8

7

6

5

4

3

0


-

-

-

Abs / rel

Change immediately

Latch set-point

-


If no positioning is in progress, the rising edge of bit 4 will start the positioning of the axis. In case a positioning is in progress, the definitions given in the following table shall be used.

Change immediately

Latch set-point

Description

0

0 → 1

Actual positioning will be completed (target reached) before the next one gets started (Set of set-points mode)

1

0 → 1

Next positioning shall be started immediately interrupting the actual one.

The latching behavior of new set-points can be configured with the profiler latching mode.

Next table defines the values for bit 6 of the control word.

Name

Value

Description

Abs / rel


0

Target position is an absolute value.

1

Target position is a relative value.

Relative option is configured by Positioning option code.

Control word in profile velocity mode

The binary representation of the control word is as follows:

Bit number:

15

12

11109

8

7

6

5

4

3

0


-

Latch set-point--

-

-

-

-

-

-

Next table defines the values for bit 11 of the control word.

Latch set-point

Description

0 → 1

Set-point shall be processed immediately.

The latching behavior of new set-points can be configured with the profiler latching mode.

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