Festo Электромотор MTR-DCI - Manual (Page 342)

C. Reference – CANopen and CI objects
C-66
Festo P.BE-MTR-DCI-CO-EN en 1209a
Controlword CiA 402
CI 6040h – / 00h Var uint16 rw
Description To modify the current controller status or trigger an action.
For description see section C.1.4.
Specific features when accessing via CI:
– Reset Fault (Bit 7) as per CiA 402 processing with positive edge, but level
evaluated via CI.
– Start bit (bit 4) in homing and positioning as per CiA 402 edge-triggered, but
for CI level evaluated. 0-set interpreted as stop.
– HMI access locked (bit 14) only accessible via fieldbus.
– Switching to “Operation enable” may simultaneously include action-trigger-
ing bits (start, jog, ...).
– Shortened status transitions:
– Command “Operation disable” or “Switch on” (same coding):
Status OPERATION ENABLE -> READY TO SWITCH ON.
Status READY TO SWITCH ON -> SWITCHED ON.
– “Disable voltage” command (bit 1 = 0, rest irrelevant) – all statuses
-> READY TO SWITCH ON.
– “Operation enable” command (all statuses) -> OPERATION ENABLE.
– “Voltage disable” and “Quick stop” commands -> READY TO SWITCH ON.
Statusword CiA 402
CI 6041h – / 00h Var uint16 ro
Description To modify the current controller status or trigger an action.
For description see section C.1.4.
Specific features when accessing via CI:
– Bit 4 in CI reversed polarity as with CiA 402.
– In the Fault status, when power is applied to the axis, the status is indicated
not as xxx8, but xxxA, meaning “Switched on” is set.