AKD EtherCAT | 5 Appendix
5.3.51 Object 6040h: Control word (DS402)
The control commands are built up from the logical combination of the bits in the control word
and external signals (e.g enable output stage). The definitions of the bits are shown below:
Index
6040h
Name
control word
Object code
VAR
Data type
UNSIGNED16
Access
R/W
PDO mapping
possible
Unit
—
Value range
0 to 65535
EEPROM
no
Default value
0
Bit assignment im control word
Bit Name
Bit Name
0
Switch on
8
Pause/halt
1
Disable Voltage
9
reserved
2
Quick Stop
10 reserved
3
Enable Operation
11 reserved
4
Operation mode specific
12 reserved
5
Operation mode specific
13 Manufacturer-specific
6
Operation mode specific
14 Manufacturer-specific
7
Reset Fault (only effective for faults)
15 Manufacturer-specific
Commands in the control word
Command
Bit 7
Fault
Reset
Bit 3
Enable
Operation
Bit 2
Quick
Stop
Bit 1
Disable
Voltage
Bit 0
Switch
on
Transitions
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
1
X
X
X
X
15
Bits marked by an X are irrelevant.
132
Kollmorgen | kdn.kollmorgen.com | October 2017
