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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Issue Number: 2

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