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ASDA-A3

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EtherCAT Mode

13.4.3.3 OD 6XXXh communication object group

Object 603Fh: Error code (CANopen defined)

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

603Fh

Error code

VAR

UNSIGNED16

RO

Yes

UNSIGNED16

0

Object 6040h: Controlword

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

6040h

Controlword

VAR

UNSIGNED16

RW

Yes

UNSIGNED16

0x0004

Object function:

The Controlword contains many functions, such as Servo On, command triggering,

fault reset, and quick stop. The state machine architecture is as follows:

13

Controlword (OD 6040h)

State Machine

Statusword (OD 6041h)

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Bit

Bit 0

Bit 1

Bit 2

Bit 3

Function

Switch on

Enable voltage

Quick stop (B contact (NC))

Enable operation

Description

Ready for Servo On.

-

-

Servo On.

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