14.1 Device Control
14.1.1 State Machine Control Commands
14-4
14.1.1
State Machine Control Commands
14.1.2
Bits in Statusword (6041h)
14.1.3
Related Objects
Command
Bits in Controlword (6040h)
Bit 7
Bit 3
Bit 2
Bit 1
Bit 0
Shutdown
0
−
1
1
0
Switch ON
0
0
1
1
1
Switch ON + Enable Operation
0
1
1
1
1
Disable Voltage
0
−
−
0
−
Quick Stop
0
−
0
1
−
Disable Operation
0
0
1
1
1
Enable Operation
0
1
1
1
1
Fault Reset
0
→
1
−
−
−
−
Bit
Data Description
Remarks
0
Ready to Switch ON
Refer to the following section for details.
1
Switched ON
2
Operation Enabled
3
Fault
4
Voltage Enabled
5
Quick Stop
6
Switch ON Disabled
7
Warning
8
Active Mode Stop
9
Remote
10
Target Reached
11
Internal Limit Active
12
Operation Mode Specific
13
14
Torque Limit Active
15
Safety Active
Index
Subindex
Name
Access
PDO
Mapping
Unit
Data
Type
6040h
0
Controlword
RW
Yes
−
UINT
6041h
0
Statusword
RO
Yes
−
UINT
605Ah
0
Quick stop option code
RW
No
−
INT
605Bh
0
Shutdown option code
RW
No
−
INT
605Ch
0
Disable operation option code
RW
No
−
INT
605Dh
0
Halt option code
RW
No
−
INT
605Eh
0
Fault reaction option code
RW
No
−
INT
