6.1.2. Object 0x6040: Controlword
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)
Switch on + enable
operation
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
Switch on disabled
SW: xxxx xxxx x1xx 0000
Ready to switch on
SW: xxxx xxxx x01x 0001
Switch on
SW: xxxx xxxx x01x 0011
Fault
SW: xxxx xxxx x0xx 1000
Fault reaction active
SW: xxxx xxxx x0xx 1111
Operation enable
SW: xxxx xxxx x01x 0111
Quick stop active
SW: xxxx xxxx x00x 0111
(CW: xxxx xxxx 0xxx x110) 2
7 (CW: xxxx xxxx 0xxx x01x)
( CW: xxxx xxxx 0xxx xx0x)
6 (CW: xxxx xxxx 0xxx x110)
5 (CW: xxxx xxxx 0xxx 0111)
(CW: xxxx xxxx 0xxx x111) 3
(CW: xxxx xxxx 0xxx 1111) 4
11 (CW: xxxx xxxx 0xxx x01x)
10
(CW: xxxx xxxx 0xxx x01x)
(CW: xxxx xxxx 0xxx xx0x)
(CW: xxxx xxxx 0xxx xx0x) 9
(CW: xxxx xxxx 0xxx x110) 8
15
(CW: xxxx xxxx 1xxx xxxx)
CW: Controlword (6040)
SW: Statusword (6041)