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Chapter 3 - Device Profile
CD1-k – CANopen Communication Profile
3.3.3 - OBJECT DESCRIPTION
3.3.3.1 - Object 6040h: Control Word
Index 6040h
Name Control
Word
Object Code
VAR
Data Type
Unsigned16
Object Class
all
Access rw
PDO Mapping
Possible
Default Value
0000
Bit Number
Function
0 Switch
On
1 Disable
Voltage
2 Quick
Stop
3 Enable
Operation
4
Operation Mode Specific
5
Operation Mode Specific
6
Operation Mode Specific
7
Reset Fault (rising edge)
11
Out_Of_Limit (manufacturer specific)
Device control commands are triggered by the following bit patterns in the control word:
Command /
Bit of the control_word
bit 7
Fault Reset
bit 3
Enable
Operation
bit 2
Quick Stop
bit 1
Disable
Voltage
bit 0
Switch On
Transition
Shutdown
X X 1 1 0
2,
6,
8
Switch
On
X X 1 1 1 3
Disable
Voltage
X X X 0
X
7, 9, 10, 12
Quick Stop
X
X
0
1
X
7, 10, 11
Disable
Operation X 0 1 1 1 5
Enable
Operation
X 1 1 1 1 4,
16
Fault Reset
X X X X 15
Bit 4, 5, 6 are operation mode specific:
Bit
Profile Position Mode
Homing Mode
Interpolated Position Mode
4
new set point
Homing Operation Start
enable ip_mode
5 change_set_immediately reserved
reserved
6 0:
absolute
1: relative
reserved reserved
Bit 11: Out_of_Limit. Manufacturer Specific.
When the motor is in limit position, this bit authorizes to move the motor.