0x6040 - Controlword

Index

Sub Index

Name

Data Type

Acc.

Pdo Map.

NVM

Value range

Default value

Units

0x6040

0x00

Controlword

UINT16

RW

Yes

No

UINT16

0x0000

-

The controlword is used to:

  • Check controller status.
  • Check parameters related to operation modes.

Data description:

The binary representation of the object value and its corresponding meaning is as follows:

Bit number

15

9

8

7

6

5

4

3

2

1

0

 ReservedHaltFault resetMode specificEnable operationQuick stopEnable voltageSwitch on

Device control commands are generated by a combination of controlword bits.

Command patterns are shown below:

Command

Bit of the controlword

Fault reset

Enable operation

Quick stop

Enable voltage

Switch on

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

0 to 1 (rising edge)

x

x

x

x

Bits marked with an '"x" are irrelevant.

The mode specific bits depend on the mode of operation selected. More information can be found in the corresponding section: 

Note that Fault reset command will be executed only in a rising edge transition.

If the halt bit is activated (writing a 1) the movement will be stopped using Quick stop deceleration. After releasing the halt bit the system will maintain the position or velocity but it will not continue the previous movement.

When working with BLAC motors with forced alignment method for initial angle determination, the alignment process will be executed when executing the Enable operation command for first time.

Note that the Quick stop bit is activated at a low level.