ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 33)

Data description:
15 11 10 9 8 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
MSB LSB
O: Optional
M: Mandatory
Bits 0 – 3 and 7:
Device control commands are triggered by the following bit patterns in the
controlword:
Command
Bits of the controlword
Transitions
7 3 2 1 0
Fault
Reset Enable
Operation Quick
Stop Enable
Voltage Switch
On
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
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
27
Device Control Command Triggers
Bits marked with X are not relevant.
* The drive executes the functionality of SWITCH_ON.
** The drive does nothing in this state, which is treated the same as in *.