Festo Электромотор MTR-DCI - Manual (Page 304)

C. Reference – CANopen and CI objects
C-28
Festo P.BE-MTR-DCI-CO-EN en 1209a
C.1.4 CiA 402: Standardised Device Profile Area
Controlword CiA 402 (control word CiA 402)
CANopen / CI 6040h – / 00h Var uint16 rw
Description Modify the current controller status or trigger an activity. Status modifications
triggered by the control word must be read back via the status word. Only when
the requested status can be read, may a further command be written via the
control word. For a description of the state machine see section C.2. Values see
Tab. C/3. Specific features when accessing via CI see section C.3.4.
Bit Value Description
0 0x0001 Switch on Control the status transitions.
These bits are evaluated together.
1 0x0002 Enable voltage
2 0x0004 Quick stop – low-active
3 0x0008 Enable operation
4 0x0010 Depends on operating mode (object 6060):
– Homing mode:
Start homing operation
– Profile position mode / torque mode: New setpoint (move to position)
5 0x0020 Depends on operating mode (object 6060h):
– Homing mode:
reserved (set to 0)
– Profile position mode: reserved (change_set_immediately not supported
in Record Select and Direct mode)
– Profile torque mode: =1: with stroke limitation; =0: without stroke
=1: limitation
6 0x0040 Depends on operating mode (object 6060h):
– Profile position mode: absolute / relative
– Homing mode:
reserved (set to 0)
– Profile torque mode: reserved (set to 1)
7 0x0080 Reset fault
8 0x0100 Hold as per Hold option code – object 605Dh.
9 0x0200 reserved (= 0)
10 0x0400 reserved (= 0)
11 0x0800 Jog positive: Run as long as set
12 0x1000 Jog negative: Run as long as set
13 0x2000 Teach: Apply current value
14 0x4000 HMI Access locked
15 0x8000 Symmetrical ramp transfer via PDO, i.e. acceleration value also for braking. Not
when accessing via SDO or using the FCT.
Tab. C/3: Description of control word