6040h Controlword Function This object controls the CiA 402 Power State Machine. 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 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 or a warning (if possible) HALT Value = "1": Triggers a halt; valid in the following modes: Profile Position Velocity Profile Velocity Profile Torque Interpolated Position Mode
6040h Controlword Function This object controls the CiA 402 Power State Machine. 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 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 or a warning (if possible) HALT Value = "1": Triggers a halt; valid in the following modes: Profile Position Velocity Profile Velocity Profile Torque Interpolated Position Mode
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 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 or a warning (if possible) HALT Value = "1": Triggers a halt; valid in the following modes: Profile Position Velocity Profile Velocity Profile Torque Interpolated Position Mode
