Controlword, Unsigned16 – Intelligent Motion Systems MDrive DSP-402 User Manual
Page 36
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