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5 CiA 402 DRIVE PROFILE
5.1 State machine control of the servo amplifier
Related object
Controlword (6040h)
This object issues a command from the master station (controller) to the slave stations (servo amplifiers).
The current control command status can be checked.
In addition, control commands can be written.
The following table lists the bits of this object. The slave can be controlled with bit 0 to bit 3 and bit 7.
The following table lists the commands issued to the servo amplifier. Turn on the bit that corresponds to the command.
*1 To prevent the command from failing to be recognized in faulty communication, hold the state in which Bit 7 is "1" for at least 10 ms for
the Fault Reset command. When Bit 7 is turned on, be sure to turn it off.
Index
Sub Index
Access
Name
Data Type
Default
6040h
0
rw
Controlword
U16
6041h
0
ro
Statusword
U16
Index
Sub Index
Access
Name
Data Type
Default
6040h
0
rw
Controlword
U16
Bit
Symbol
Description
0
SO
Switch On
1
EV
Enable Voltage
2
QS
Quick Stop
3
EO
Enable Operation
4 to 6
OMS
Operation Mode Specific
Differs depending on Modes of operation (6060h). (
7
FR
Fault Reset
8
HALT
Halt
0: Operation ready
1: Temporary stop
9
Operation Mode Specific
Differs depending on Modes of operation (6060h). (
10 to 15
Reserved
The value at reading is undefined. Set "0" when writing.
Command
Command bit setting of Controlword
Transition No.
Bit 7
Fault Reset
Bit 3
Enable
Operation
Bit 2
Quick Stop
Bit 1
Enable Voltage
Bit 0
Switch On
Shutdown
0
1
1
0
(2)/(6)/(8)
Switch On
0
0
1
1
1
(3)
Disable Voltage
0
0
(7)/(9)/(10)/(12)
Quick Stop
0
0
1
(7)/(10)/(11)
Disable Operation
0
0
1
1
1
(5)
Enable Operation
0
1
1
1
1
(4)
Fault Reset
0
1
(15)
