4.1.7 Using Statusword and Controlword
4.1.7.1 Overview
4.1.7.1.1 What are Control- and Statusword?
Commands are sent by the master to the drive with the controlword and the drive sends information about
its state back to the master with the statusword.
The controller is run through a state machine as defined in the CiA402 standard. The state changes are
requested by the master using the controlword object 0x6040 and the slave will show the actual state in the
statusword object 0x6041.
Only bits 0,1,2,3 and 7 in the controlword are used to change the state of the controller.
Only the first 7 bits of the statusword reflect the controller state.
4.1.7.1.2 How are they used?
The controlword and statusword should be used as defined in the CiA402 standard.
4.1.7.1.3 Manufacturer and Operation mode specific bits
Some bits of controlword and statusword are dependent on the operation mode the drive is in, some bits of
the statusword are also set by the manufacturer. Please check the section of each mode for details about
which bits have which meaning:
Cyclic synchronous torque control (CST)
Cyclic synchronous velocity control (CSV)
Cyclic synchronous position control (CSP)
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