PD4-E CANopen Online Manual

6040h Controlword

Object description


Index 6040h
Object name Controlword
Object Code VARIABLE
Data type UNSIGNED16
Savable yes, category: application
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 0000h
Firmware version FIR-v1426
Change history

Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: application".


Description

Parts of the object are, with respect to function, dependent on the currently selected mode.

SO (Switched On)
Value = "1": Switches to the "Switched on" state
EV (Enable Voltage)
Value = "1": Switches to the "Enable voltage" state
QS (Quick Stop)
Value = "0": Switches to the "Quick stop" state
EO (Enable Operation)
Value = "1": Switches to the "Enable operation" state
OMS (Operation Mode Specific)
Meaning is dependent on the selected operating mode
FR (Fault Reset)
Resets an error (if possible)
HALT
Value = "1": Triggers a halt; valid in the following modes:
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