Control Word Index

Type:	Axis Parameter Register
Address:	RMC75: n/a RMC150: n/a RMC200: %MDn.513 where n = 384 + the axis number
System Tag:	_Axis[n].ControlWordIndex, where n is the axis number
How to Find:	Axis Parameters Pane ® Setup tab ® Primary Control Setup
Data Type:	DWORD

Description

The Control Word Index applies to axes with EtherCAT output types of Drive or Valve. These output types, defined by drive specification CiA402 and valve specification CiA408, both use a Control Word and Status Word to control the state of the drive or valve so that it can be enabled for operation. These states are displayed in the Drive State and Valve State Axis Status registers. These states are separate from the EtherCAT communication states, such as Init, Pre-op, Op, etc.

The Control Word Index is typically 0x6040:00. For multi-axis drives, the indexes are usually incremented by 0x800 for each axis. For example, the Control Word Index for the second axis in a drive (axis 1) would usually be 0x6840:00.

To set the Control Word Index:

Make sure the Output SubDevice axis parameter has been set, as described in the Output SubDevice topic.
Make sure the Control Word object has been included in the PDO Mapping for the SubDevice.
In the Axis Parameters, on the Setup tab, in the Primary Control Setup section, verify that the Control Word Index is the correct value (typically 0x6040:00 for a valve or a single-axis drive).

If it is not the correct value, or if this applies to a multi-axis drive, set the correct Index as follows:
1. Click the Control Word Index cell, then click the button.
2. In the Variable selection dialog box, click the appropriate PDO index, then click OK.

See Also

EtherCAT Overview | Parameter Registers

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