3410h NanoSPI Comm Controlword Function Controlword of the SPI sub-master (see SPI sub-master) Object description Index 3410h Object name NanoSPI Comm Controlword Object Code VARIABLE Data type UNSIGNED16 Savable yes, category: communication Access read / write PDO mapping RX-PDO Allowed values Preset value 0000h Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Object Name" entry changed from "SPI NanoSPI Comm Controlword" to "NanoSPI Comm Controlword". Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: communication". Firmware version FIR-v1939-B682906: "PDO mapping" table entry for subindex 00 changed from "no" to "RX-PDO". Description The sub-master can be switched to various states via the controlword (see following table). The actual state can be found in statusword 3411h. M_ON (Switch Sub-Master to "ON") Value = "1": Switches the sub-master on Value = "0": Switches the sub-master off again; the interface then behaves like a sub-slave M_FC (Sub-Master full control) Value = "1": The sub-master switches to the "Init" state and then immediately to the "Operational" state. In this state, a change of the PDO configuration has no effect. M_IN (Switch Sub-Master to "INIT") Value = "1": Switches the sub-master to the "Init" state M_OP (Switch Sub-Master to "OPERATIONAL") Value = "1": Switches the sub-master to the "Operational" state. In this state, a change to the PDO configuration has no effect.
3410h NanoSPI Comm Controlword Function Controlword of the SPI sub-master (see SPI sub-master) Object description Index 3410h Object name NanoSPI Comm Controlword Object Code VARIABLE Data type UNSIGNED16 Savable yes, category: communication Access read / write PDO mapping RX-PDO Allowed values Preset value 0000h Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Object Name" entry changed from "SPI NanoSPI Comm Controlword" to "NanoSPI Comm Controlword". Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: communication". Firmware version FIR-v1939-B682906: "PDO mapping" table entry for subindex 00 changed from "no" to "RX-PDO". Description The sub-master can be switched to various states via the controlword (see following table). The actual state can be found in statusword 3411h. M_ON (Switch Sub-Master to "ON") Value = "1": Switches the sub-master on Value = "0": Switches the sub-master off again; the interface then behaves like a sub-slave M_FC (Sub-Master full control) Value = "1": The sub-master switches to the "Init" state and then immediately to the "Operational" state. In this state, a change of the PDO configuration has no effect. M_IN (Switch Sub-Master to "INIT") Value = "1": Switches the sub-master to the "Init" state M_OP (Switch Sub-Master to "OPERATIONAL") Value = "1": Switches the sub-master to the "Operational" state. In this state, a change to the PDO configuration has no effect.
Object description Index 3410h Object name NanoSPI Comm Controlword Object Code VARIABLE Data type UNSIGNED16 Savable yes, category: communication Access read / write PDO mapping RX-PDO Allowed values Preset value 0000h Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Object Name" entry changed from "SPI NanoSPI Comm Controlword" to "NanoSPI Comm Controlword". Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: communication". Firmware version FIR-v1939-B682906: "PDO mapping" table entry for subindex 00 changed from "no" to "RX-PDO".
Description The sub-master can be switched to various states via the controlword (see following table). The actual state can be found in statusword 3411h. M_ON (Switch Sub-Master to "ON") Value = "1": Switches the sub-master on Value = "0": Switches the sub-master off again; the interface then behaves like a sub-slave M_FC (Sub-Master full control) Value = "1": The sub-master switches to the "Init" state and then immediately to the "Operational" state. In this state, a change of the PDO configuration has no effect. M_IN (Switch Sub-Master to "INIT") Value = "1": Switches the sub-master to the "Init" state M_OP (Switch Sub-Master to "OPERATIONAL") Value = "1": Switches the sub-master to the "Operational" state. In this state, a change to the PDO configuration has no effect.
