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Communication via CAN bus
9.6
Control word
The control word consists of 16 bits and is mapped on the object 6040h, and in the 3 Receive
PDOs.
It contains bits for controlling the state machine as well as controlling the operational
modes, Profile Position Mode (positioning mode) and Profile Velocity Mode (velocity mode).
15
MSB
14
13
12
11 10
High Byte
Control word
9
8
7
6
5
4
3
Low Byte
2
1
0
LSB
Table 33: Control word
The following table lists the designations of the individual bits of the control word and their
meanings.
Bit
0
1
2
3
4
5
6
7
8
Designation
Switch on
Disable voltage
Quick stop
Enable operation
Profile Position Mode:
New Setpoint
Profile Velocity Mode
reserved
reserved
Fault reset
Profile Position Mode:
Stop
Profile Velocity Mode:
Stop
AG06
9
10
11
reserved
reserved
Key enable
12
reserved
Date: 12.11.2015
Description
controls the state of the State Machine (see Table 35)
controls the state of the State Machine (see Table 35)
controls the state of the State Machine (see Table 35)
controls the state of the State Machine (see Table 35)
By bit 4, positioning is triggered in the drive controller in the
OPERATION ENABLED state (value 0  1).
The drive controller acknowledges the travel command via bit
12 'Setpoint acknowledged' in the status word (see chapter
9.5: Status word).
no meaning
If the state machine of the actuator is in the FAULT state, the
fault is reset by an edge on bit 7 (0  1) and the state
machine is set to the SWITCH ON DISABLED state on the
condition that the cause of the fault has been resolved in
advance (see chapter 7.2: Errors).
By setting bit 8 on value 1, interruption of travel can be
triggered during a running positioning event. Motor runs out
with programmed deceleration and stops in the control state.
Positioning is resumed and completed after resetting the bit
(value 1  0).
By bit 8, drive movement is triggered in the velocity mode in
the OPERATION ENABLED state (value 1  0).
Key enable can be controlled via Bit 11 in the OPERATION
ENABLED state:
0 = Key enable as defined by object 2400h sub-index 08h
1 = Key enable inverted as defined by object 2400h sub-index
08h
Art. No. 85674
Mod. status 396/15
Page 54 of 114