Festo Электромотор MTR-DCI - Manual (Page 300)

C. The Command Interpreter (CI)
C-26
Festo P.BE-MTR-DCI-DN-EN en 1209a
C.2.5 Standardised Device Profile Area (6xxxh)
Control word
CI 6040h 00h Var uint16 rw
Description For modifying the current controller status or triggering an action. Status
changes triggered by the control word must be read back via the status word.
Only after the requested status has been read from the status word may a
further command be written via the control word.
For values see Tab. C/8
Bit Value Description
0 0x0001 Switch on Controlling the state transitions.
These bits are evaluated together!
1 0x0002 Enable Voltage
2 0x0004 Quick Stop – low-active!
3 0x0008 Enable Operation
4 0x0010 Mode-specific (object 6060h):
– Homing mode: Homing Operation Start
– Profile Position Mode / Torque Mode: New Setpoint (move to position)
5 0x0020 Mode-specific (object 6060h):
– Homing Mode: reserved (set to 0)
– Profile Position Mode: reserved (change_set_immediately in record
selection and direct mode is not supported)
– Profile Torque Mode: =1: With stroke limitation; =0: Without stroke
limitation
6 0x0040 Mode-specific (object 6060h):
– Profile Position Mode: absolute / relative
– Homing Mode: reserved (set to 0)
– Profile Torque Mode: reserved (set to 1)
7 0x0080 Fault Reset
8 0x0100 Halt as per Halt Option Code – object 605Dh.
9 0x0200 Reserved (= 0)
10 0x0400 Reserved (= 0)
11 0x0800 Jog positive: Move while set (as with FHPP CPOS.B3)
12 0x1000 Jog negative: Move while set (as with FHPP CPOS.B4)
13 0x2000 Teach: Apply current value
14 0x4000 Reserved (= 0)
15 0x8000 Reserved (= 0)
Tab. C/8: Description of Control Word