Emerson 0471-0128-02 Drive profile DSP-402 support, 0x6040 Controlword, Controlword bit functions

7 Drive profile (DSP-402) support

SM-EtherCAT supports the following modes of the DSP-402 profile:

•Interpolated position mode

•vl velocity mode

•Profile torque mode

7.10x6040 Controlword

This provides the primary method of controlling the behavior of the drive e.g. enabling, disabling, resetting, etc. Table 7.1 describes the format of the control word. The individual bits are used in combinations (see Table 7.2) to sequence the drive through the state machine described in Figure 7-1.

Table 7.1 Controlword

0x6040	Controlword
Access: RW		Range: 0 to 65535	Size: Unsigned 16	Unit: N/A
Default:	N/A
Description:	Provides the primary method of controlling the behavior of the drive.

Table 7.2 Controlword bit functions

15	14	13	12	11	10	9	8	7	6		5	4	3	2	1	0
		Reserved			r	oms	h	fr		oms		hos	eo	qs	ev	so

LEGEND: ms = manufacturer-specific; r = reserved; oms = operation mode specific; h = halt; fr = fault reset; hos = homing operation start; eo = enable operation; qs = quick stop; ev = enable voltage; so = switch on

Table 7.3 Command coding

Bits of the controlword

Command	Bit 7	Bit 3	Bit 2	Bit 1	Bit 0
Shutdown	0	X	1	1	0
Switch on	0	0	1	1	1
Switch on + enable	0	1	1	1	1
operation
Disable voltage	0	X	X	0	X
Quick stop	0	X	0	1	X
Disable operation	0	0	1	1	1
Enable operation	0	1	1	1	1
Fault reset		X	X	X	X

NOTE: Automatic transition to Enable operation state after executing SWITCHED ON state functionality.

28	SM-EtherCAT User Guide
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