Parker MDC 100 30 6.5, User Manual

Page: 39 / 57

Parker Hannifin Manufacturing Srl user’s manual MDC
39
OBJECT DESCRIPTION
INDEX 6040h
Name Controlword
Object Code VAR
Data Type
UNSIGNED16
Category Mandatory
ENTRY DESCRIPTION
Access rw
PDO Mapping Possible
Value Range
UNSIGNED16
Default Value No
DATA DESCRIPTION The bits of the
controlword are defined as follows:
15 11 10 9 8 7 6 4 3 2 1 0
Manufacture
r specific Reserve
d Hal
t
Faul
t
reset Operatio
n mode
specific Enable
operatio
n Quic
k
stop
Enabl
e
voltag
e
Switc
h on
O O O M O M M M M
MSB LSB
0 -Optional
M –Mandatory
BITS 0 – 3 AND 7:
Device control commands are triggered by the following bit patterns in the controlword :
Command
Bit of the controlword
Transitions Fault
reset Enable
operation
Quick stop
Enable
voltage
Switch on
Shutdown 0 X 1 1 0 2,6,8
Switch on 0 0 1 1 1 3*
Switch on 0 1 1 1 1 3**
Disable
voltage
0 X X 0 X 7,9,10,12
Quick stop 0 X 0 1 X 7,10,11
Disable
operation
0 0 1 1 1 5
Enable
operation
0 1 1 1 1 4,16
Fault reset X X X X 15
Table 4: Device control commands
(bits marked X are irrelevant, * ... In the state
SWITCHED ON the drive executes the functionality of this state., ** ... It exists no
functionality in the state SWITCHED ON. The drive does not do any in this state.)