EN
User manual DRCS - CanOpen
11
15 11
10
9
8
7
6 4
3
2
1
0
ms
r
oms
h
fr
oms
eo
qs
ev
so
MSB
LSB
3.4.1 603Fh Error code
This object contains the last error code that occurred on the drive, it is the same information present in object 1003h
sub-index 1.
3.4.2 6040h Controlword
This object checks the drive status and function. It is used to enable / disable power and start / stop a movement.
This object together with the “status word” are used for the management of the state machine of the Cia402 profile, refer
to the relative manual Cia402-2.
The word is subdivided into bits with the following meanings:
The possible commands to change the drive status are summarised in the following table:
Bit 8, the halt function , interrupts the command in execution, but as soon as it is reset, the command resumes if possible,
depending on the operating mode.
- ms = manufacturer specifications
- r =
reserved
- oms = dependant on operating mode
- h =
halt
- fr =
error reset
- eo = enable command
- qs = quick stop
- ev = enable power
- so = startup
3.4 CIA 402 profile object descriptions
Command
fr (bit7)
eo (bit3)
qs (bit2)
ev (bit1)
so (bit0)
FSA
Shutdown
0
x
1
1
0
2,6,8
Switch on
0
0
1
1
1
3
Enable operation
0
1
1
1
1
4,16
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
Fault reset
|
x
x
x
x
15
Not ready to
switch on
Ready to
switch on
Switch on
disabled
Fault
Fault reaction
active
Power-off or reset
Start
0
1
2
3
4
7
6
5
8
9
15
13
10
12
11
16
Switched on
Operation
enabled
Quick stop
active
