E6581911
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5.1.2. Object 6040h: Controlword
15 11 10 9 8 7 6 5 4 3 2 1 0
ms r oms h fr oms eo qs ev so
MSB LSB
ms = manufacturer-specific;
r = reserved;
oms = operation mode specific;
h = halt;
fr = fault reset;
eo = enable operation;
qs = quick stop;
ev = enable voltage;
so = switch on Bold bits shall be supported, other may be supported.
Command coding (CiA DS402-2 DSP V3.0 Table 27)
Command
Bits of the Controlword
Transitions
fault
reset
enable
operation
Quick
stop
enable
voltage
switch on
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 x 1 1 0 2, 6, 8
Switch on 0 0 1 1 1 3
Switch on + enable
operation
0 1 1 1 1
3 + 4
Note
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
NOTE Automatic transition to Enable operation state after executing SWITCHED ON state functionality.
When detects main power loss or not release main power loss in 3 sec after change to “Switch on
state”, the state is changed to “Switch on disable”.
Not Ready to switch on
SW: xxxx xxxx x0xx 0000
START
Switch on disabled
SW: xxxx xxxx x1xx 0000
Ready to switch on
SW: xxxx xxxx x0 1x 0001
Switch on
SW: xxxx xxxx x01x 0011
Fault
SW: xxxx xxxx x0xx 1000
Fault reaction active
SW : xx xx x xx x x0 xx 1111
Operation enable
SW: xxxx xxxx x01x 0111
Quick stop active
SW: xxx x xx xx x00x 0111
(CW: x xxx xx xx 0x xx x110 )
2
7 (CW: x xx x xxxx 0 xxx x01x)
( CW : xx xx xxxx 0xx x x x0x )
6 (CW: x xx x xxxx 0 xxx x110)
5 (CW: x xx x xx xx 0 xx x 0 111)
(CW: xxxx xxxx 0xxx x111) 3
(CW: xxxx xxxx 0xxx 1111) 4
1 (CW: xx xx xxxx 0x xx x 01x)
10
(C W: xxx x xx xx 0 xxx x01x )
(C W: xxx x xxxx 0 xxx xx0 x)
(C W: xxx x xx xx 0x xx x x0x ) 9
(CW: x xxx xx xx 0x xx x110) 8
15
(CW : x xxx xxxx 1x xx xxx x)
1
14
From any stat e
0
13
12
CW: Controlword (6040)
SW: Statusword (6041)
16
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