EN
29
4.3 Standardized Device Objects (CiA 402 Drives and Motion Control)
Object 0x603f : error_code
This object must provide the error code of the last error, which occurred in the inverter.
Emergency messages are triggered by internal errors and serious warnings in the drive unit. They are
defined in detail in "CiA402-3". They must contain the 16-bit error code. Error codes from xx00h to xx7Fh are
defined in "CiA301".
The meanings of the error codes are given in "CiA402-2" Table 24.
Index
(hex)
Name
Object type
Data type
Access
PDO
mapping
Default
603f
error_code
Variable
Unsigned16
ro
optional
Object 0x6040 : Controlword
This object must specify the received command that controls the inverter. It must be structured as follows:
15
11
10
9
8
7
6
4
3
2
1
0
ms
r
oms
h
fr
oms
eo
qs
ev
so
MSB
LSB
Legend: ms = manufacturer-specific; r = reserved; oms = operation mode specific; h = stop; fr = fault reset; eo = enable operation;
qs = quick stop; ev = enable voltage; so = switch on.
The bits 0 to 9 shall be supported according to the mode of operation. If the related functionality is not
available, an appropriate emergency messages shall be generated. The commands shall be coded as
specified in the following table:
Command
Bits of the control word
Transitions
Bit 7
Bit 3
Bit 2
Bit 1
Bit 0
Shutdown
0
x
1
1
0
2, 6, 8
Switch on
0
0
1
1
1
3
Switch on + enable operation
0
1
1
1
1
3 + 4 (NOTE)
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
NOTE: Automatic transition to "Enable operation" state after executing "SWITCHED ON" state functionality.
All implemented bits of the control word are valid independently of the inverter state.
Index
(hex)
Name
Object type
Data type
Access
PDO
mapping
Default
6040
Controlword
Variable
Unsigned16
rw
optional