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28 MDrivePlus CANopen R020507
Object 6040
h
— Controlword
Ths controlword is a mandatory, unsigned 16 bit number containing bits for controlling the state and operating modes for the MDrivePlus CANo-
pen.
Object Description
Index
6040
h
Name
Controlword
Object Code
VAR
Data Type
Unsigned16
Entry Description
Access
r/w
PDO Mapping
n/a
Range
Unsigned16
Default
n/a
Data Description
MSB
15 11 10 9 8
LSB
7 6 4 3 2 1 0
Manufacturer
Specific
Reserved Halt Fault
Reset
Operation
Mode Specific
Enable
Operation
Quick
Stop
Enable
Voltage
Switch
On
O O O M O M M M M
O=Optional M= Mandatory
Device Control Command Bit Patterns (Bits 0-3 and 7)
Command
Bit of Controlword (6040h)
State
Transitions
Fault Reset
(Bit 7)
Enable
Operation
(Bit 3)
Quick Stop
(Bit 2)
Enable
Voltage
(Bit 1)
Switch On
(Bit 0)
Shutdown 0 X 1 1 0 2, 6, 8
Switch On 0 0 1 1 1 3
Switch On 0 1 1 1 1 3
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
Enable Operation 0 1 1 1 1 4, 16
Fault Reset X X X X 15
*The MDrivePlus CANopen executes the functionality of Switched On
** The MDrivePlus CANopen will do nothing
Table 4.3: MDrivePlus CANopen Device Control Commands (Bits Marked X are not relevant)
Device Operation Mode Bit Patterns (Bits 4-6 and 8)
Operation Mode
Controlword 6040h Bits 4-6, 8
Bit 8 Bit 6 Bit 5 Bit 4
Profile Position Halt Absolute/Relative Change Set Immediately New Setpoint
Profile Velocity Halt Reserved Reserved Reserved
Homing* Halt Homing Operation Start Reserved Reserved
*Homing Mode is currently under development for the MDrivePlus CANopen
Table 4.4: MDrivePlus CANopen Operation Modes