2 object description, 1 object 6040h: controlword (ds402), 6040h – BECKHOFF AX2000 CANopen communication profile User Manual
Page 53: Control word, Object description, Object 6040h: controlword (ds402), Canopen drive profile
4.4.2
Object description
4.4.2.1
Object 6040h: Controlword (DS402)
The control commands are built up from the logical combination of the bits in the control word and
external signals (e.g enable output stage). The definitions of the bits are shown below:
Index
0x6040
h
Name
control word
Object code
VAR
Data type
UNSIGNED16
Mode
all
Access
rw
PDO mapping
possible
Unit
—
Value range
0 ... 65535
EEPROM
no
Default value
0
Bit assignment im control word
Bit Name
Bit Name
0
Switch on
8
Pause/halt
1
Disable Voltage
9
reserved
2
Quick Stop
10 reserved
3
Enable Operation
11
Acknowledge lag/following error and response
monitoring
4
Operation mode specific
12 Reset position
5
Operation mode specific
13 Manufacturer-specific
6
Operation mode specific
14 Manufacturer-specific
7
Reset Fault (only effective for faults)
15
Manufacturer-specific
Commands in the control word
Command
Bit 7
Fault Reset
Bit 3
Enable
Operation
Bit 2
Quick Stop
Bit 1
Disable
Voltage
Bit 0
Switch on
Transitions
Shutdown
X
X
1
1
0
2, 6, 8
Switch on
X
X
1
1
1
3
Disable Voltage
X
X
X
0
X
7, 9, 10, 12
Quick Stop
X
X
0
1
X
7, 10, 11
Disable Operation
X
0
1
1
1
5
Enable Operation
X
1
1
1
1
4, 16
Fault Reset
1
X
X
X
X
15
Bits marked by an X are irrelevant.
CANopen for AX2000/2500
53
BECKHOFF
07/2007
CANopen Drive Profile