ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 150)

FAULT REACTION ACTIVE
From this state:
Operation 15 - far, FaultReset command for all motion objects
User can send controlword by command cwd, ControlWord. The controlword contains
bits for:
• Controlling the state
• Controlling operating modes
• Manufacturer-specific options
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
Table 9-1: ControlWord Fields Description
O: Optional M: Mandatory
Object Index and
Subindex
Full
Command
Short
Command
Elmo Short
Command
Description
0x6040, 0x00
(see also PDO
Mapping table) ControlWord cwd - Control parameter of node
DS402 state machine
0x6040, 0x00
(see also PDO
Mapping table) Shutdown sdn - Shutdown command
Controlword is 0XXX X110
0x6040, 0x00
(see also PDO
Mapping table) DisableVoltage div - Disable voltage
Controlword is 0XXX XX0X
0x6040, 0x00
(see also PDO
Mapping table) SwitchOn swn bg Switch On command
Controlword is 0XXX X111
0x6040, 0x00
(see also PDO
Mapping table) QuickStop qst st Shutdown command
Controlword is 0XXX X01X
0x6040, 0x00
(see also PDO
Mapping table) Halt hlt - Halt command
Controlword is
XXX1 0XXX XXXX
0x6040, 0x00
(see also PDO
Mapping table) FaultReset far - Fault reset command
Controlword is 1XXX XXXX
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-5