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28 SM-EtherCAT User Guide
www.controltechniques.com Issue Number: 2
7 Drive profile (DSP-402) support
SM-EtherCAT supports the following modes of the DSP-402 profile:
• Interpolated position mode
• vl velocity mode
• Profile torque mode
7.1 0x6040 Controlword
This provides the primary method of controlling the behavior of the drive e.g. enabling,
disabling, resetting, etc.
Table 7.1 describes the format of the control word. The
individual bits are used in combinations (see Table 7.2) to sequence the drive through
the state machine described in Figure 7-1.
LEGEND: ms = manufacturer-specific; r = reserved; oms = operation mode specific; h = halt;
fr = fault reset; hos = homing operation start; eo = enable operation; qs = quick stop; ev =
enable voltage; so = switch on
Table 7.1 Controlword
0x6040 Controlword
Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: N/A
Default: N/A
Description: Provides the primary method of controlling the behavior of the drive.
Table 7.2 Controlword bit functions
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Reserved r oms h fr oms hos eo qs ev so
Table 7.3 Command coding
Command
Bits of the controlword
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 X 1 1 0
Switch on 0 0 1 1 1
Switch on + enable
operation
0 1 1 1 1
Disable voltage 0 X X 0 X
Quick stop 0 X 0 1 X
Disable operation 0 0 1 1 1
Enable operation 0 1 1 1 1
Fault reset X X X X
NOTE: Automatic transition to Enable operation state after executing SWITCHED
ON state functionality.