BECKHOFF AX2000 CANopen communication profile - Manual (Page 54)

Mode-dependent bits im control word
The following table shows the mode-dependent bits in the control word. Only manufacturer-specific
modes are supported at present. The individual modes are set by Object 6060
h
Modes of operation.
Operation mode No. Bit 4 Bit 5 Bit 6
Position FF h reserved reserved reserved
Digital speed FE h reserved reserved reserved
Digital current FD h reserved reserved reserved
Analog speed FC h reserved reserved reserved
Analog current FB h reserved reserved reserved
Trajectory FA h reserved reserved reserved
Homing F9 h Start homing reserved reserved
Jogging F8 h reserved reserved reserved
Profile Position
Mode (pp)
01 h new_set_point change_set_immediately
absolute / relati-
ve
Profile Velocity
Mode (pv)
03 h reserved reserved reserved
Homing Mode (hm) 06 h homing_operation_start reserved reserved
Description of the remaining bits in the control word
The remaining bits in the control word are described below.
Bit 8 Pause If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed for
homing or jogging, motion task number, setpoints for digital mode) for the individual modes are
retained.
Bit 9,10 These bits are reserved for the drive profile (DS402).
Bit 11 Acknowledge error Setting Bit 11 acknowledges the response monitoring and/or the con-
touring error.
Bit 12 Reset the position, taking account of the reference offset. (See also Homing type 6 in Object
2024
h
, Sub-index 01
h
)
Bit 13, 14, 15 These bits are manufacturer-specific, and reserved at present.
4.4.2.2 Object 6041h: Statusword (DS402)
The momentary state of the status machine can be read out with the aid of the status word
(
Þ 4.3.2.1.1).
Index 0x6041 h
Name Status word
Object code VAR
Data type UNSIGNED16
Mode all
Access rw
PDO mapping possible
Unit —
Value range 0 ... 65535
EEPROM yes
Default value 0
54 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF