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This object indicates the received command controlling the PDS FSA.
| 15 | 11 | 10 | 9 | 8 | 7 | 6 | 4 | 3 | 2 | 1 | 0 |
| ms | r | oms | h | fr | oms | eo | qs | ev | so | ||
| MSB | LSB | ||||||||||
LEGEND: 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
| Command | Bits of the controlword | Transitions | ||||
|---|---|---|---|---|---|---|
| Bit 7 | Bit 3 | Bit 2 | Bit 1 | Bit 0 | ||
| Shutdown | 0 | X | 1 | 1 | 0 | 2, 6, 8 |
| Switch on | 0 | 0 | 1 | 1 | 1 | 3 |
| Switch on + enable operation | 0 | 1 | 1 | 1 | 1 | 3 + 4 (NOTE) |
| Disable voltage | 0 | X | X | 0 | X | 7, 9, 10, 12 |
| Quick stop | 0 | X | 0 | 1 | X | 7, 10, 11 |
| Disable operation | 0 | 0 | 1 | 1 | 1 | 5 |
| Enable operation | 0 | 1 | 1 | 1 | 1 | 4, 16 |
| Fault reset | 1 | X | X | X | X | 15 |
| NOTE Automatic transition to Enable operation state after executing SWITCHED ON state functionality. | ||||||
Bits 9, 6, 5, and 4 of the controlword are operation mode specific. The halt function (bit 8) behaviour is operation mode specific. If the bit is 1, the commanded motion shall be interrupted, the PDS shall behave as defined in the halt option code. After releasing the halt function, the commanded motion shall be continued if possible.
The bit 10 is reserved for further use; it shall be set to 0. The bits 11, 12, 13, 14, and 15 are manufacturer-specific.
| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
|---|---|---|---|---|---|---|---|---|---|
| Controlword | 0x6040:0 | UINT | 16 | 0 | readwrite | Receive PDO (Outputs) | |||
