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8 Operation
8-6
(1) State Machine Controlling Command
(2) Bits of Statusword (6041h)
(3) Related Objects
Command
Bits of the Controlword (6040h)
Bit7 Bit3 Bit2 Bit1 Bit0
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 No Data Description Note
0 Ready to switch on
For details, refer to
Σ
-V-SD series User’s Manual For Command Profile
EtherCAT (CoE) Communications Reference (manual no.: SIEP S800000
95)
1 Switched on
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning
8 Reserved
9 Remote
10 Target reached
11 Internal limit active
12
Operation mode specific
13
14
Torque limit active
15 HWBB active
Index Sub Name Access
PDO
Mapping
Units Type
6040h – Controlword RW Yes – UINT
6041h – Statusword RO Yes – UINT
605Ah – Quick Stop Option Code RW No – INT
605Bh
–
Shutdown Option Code
RW No – INT
605Ch – Disable Operation Option Code RW No – INT
605Dh – Halt Option Code RW No – INT
605Eh – Fault Reaction Option Code RW No – INT