7.1.9.1.1 Setting via digital inputs
co30 controlword mask which bits are written to the internal controlword c031 by
writing to co00 (CiA 0x6040) controlword (Adr. 0x2500) or the controlword in the pr
parameters (Adr. 0x6040). "1“ for one bit in co30 causes that the respective bit is
transferred into the internal controlword (co31 controlword internal). The default
value for co30 is 0xFFFF, thus all bits of the controlword parameters are written
into the internal controlword.
The second source for the internal controlword are the bits that are set or reset by
digital inputs. The bits are set when the corresponding input is active and reset
when the corresponding input is inactive.
If a bit is defined by a digital input, it should no longer be influenced by the control-
word parameters, unless you use the combinatorics by co28 / co29. Parameter
co30 should contain a "0" for all bits which are preset via the digital inputs.
If you have selected functions in the internal controlword with digital inputs, it
is reasonable to block these functions for access via the process data.
Bits in the internal controlword can be affected simultaneously from both
sources.
However, unintentional intermediate states can occur then, since both sources
(controlword parameters and digital inputs) are sequentially processed and
written into the internal controlword.
7.1.9.1.2 Combined setting via controlword and digital inputs
2 parameters are used to define the combination logic:
combined control-
word mask
Number of programmable masks
source connection
definition
Selection of connection types and activation
sources for mask 1..3
co28 combined controlword mask determines which bits of co31 internal control-
word are evaluated by linking the "communication" controlword (co00 or 0x6040)
and the "digital input" controlword (controlword combination block in figure 1).
"1" means the bit is generated by the "combination block".
In order to be able to select different connection types for different controlword bits,
co28 is created as an array with 3 elements.
co29 source connection definition determines how the bits can be connected (func-
tion type 0 definition, function type 1 definition = 0..3).
Additionally it is defined with which controlword bits it is possible to switch between
the connection types (function nr selector = 0..3).
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