Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 53)

4.4.2 Object description

4.4.2.1 Object 6040h: Controlword (DS402)

The control commands are built up from the logical combination of the bits in the control word and

external signals (e.g enable output stage). The definitions of the bits are shown below:

Index

0x6040

Name

control word

Object code

VAR

Data type

UNSIGNED16

Mode

all

Access

PDO mapping

possible

Unit

—

Value range

0 ... 65535

EEPROM

Default value

Bit assignment im control word

Bit Name Bit Name

0 Switch on 8 Pause/halt

1 Disable Voltage 9 reserved

2 Quick Stop 10 reserved

3 Enable Operation 11

Acknowledge lag/following error and response

monitoring

4 Operation mode specific 12 Reset position

5 Operation mode specific 13 Manufacturer-specific

6 Operation mode specific 14 Manufacturer-specific

7 Reset Fault (only effective for faults) 15 Manufacturer-specific

Commands in the control word

Command

Bit 7

Fault Reset

Bit 3

Enable

Operation

Bit 2

Quick Stop

Bit 1

Disable

Voltage

Bit 0

Switch on

Transitions

Shutdown X X 1 1 0 2, 6, 8

Switch on X X 1 1 1 3

Disable Voltage X X X 0 X 7, 9, 10, 12

Quick Stop X X 0 1 X 7, 10, 11

Disable Operation X 01115

Enable Operation X 11114,16

Fault Reset 1 XXXX15

Bits marked by an X are irrelevant.

CANopen for AX2000/2500 53

BECKHOFF 07/2007 CANopen Drive Profile

1 2 ... 48 49 50 51 52 53 54 55 56 57 58 ... 136 137

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 53

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