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.