15.6 Device Control
This object provides the alarm/warning code of the last error which occurred in device.
PNU
(hex)
Name
Data Type
Access
PDO Map-
ping
Value
Saving to
EEPROM
603Fh
Error Code
UINT
RO
Yes
–
No
The controlword consists of bits for:
n
the controlling of the state,
n
the controlling of operating modes and
n
manufacturer specific options.
PNU
(hex)
Name
Data Type
Access
PDO Map-
ping
Value
Saving to
EEPROM
6040h
Controlword (STW1)
UINT
RW
RPZD
UINT
(default: 0)
No
Data Description
Bit No PROFIdrive Pro-
file Data Descrip-
tion
Explanation
Status
Description
0
OFF
1 - ON
To be set to transition S2
ð
S3
0 - OFF
The drive is ramped down along config-
ured profile deceleration (6084h). When
the motor is stopped, the drive unit
returns to state “S2: Ready For Switching
on”.
This command is interruptible.
1
Coast Stop
(OFF2)
1 - No Coast
Stop (no OFF
2)
To be set for transition S1
ð
S2.
Note: Bit 0 must be reset (=0) for the tran-
sition S1
ð
S2.
0 - Coast
Stop (OFF 2)
The ramp down phase is determined on
setting of Sigma-7 parameter Pn001.0.
When the motor is stopped, the drive unit
returns to state “S1: Switching On
Inhibited”.
This command is not interruptible.
2
Quick Stop
(OFF3)
1 - No Quick
Stop (no OFF
3)
To be set for transition S1
ð
S2.
0 - Quick Stop
(OFF 3)
The ramp down phase is determined on
setting of parameter 605Ah (Quick Stop
Option Code). When the motor is
stopped, the drive unit returns to state
“S1: Switching On Inhibited”.
This command is not interruptible.
Error Code
Controlword (STW1)
Sigma-7 Series SERVOPACKs
Object Dictionary
Device Control
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