control word  0x6040
0 Switch On. This bit must be set to enable the amplifier.
1 Enable Voltage. This bit must be set to enable the amplifier.
2 Quick Stop. If this bit is clear, then the amplifier is commanded to perform a quick stop.
3 Enable Operation. This bit must be set to enable the amplifier.
4-6 Operation mode specific. Descriptions appear in the sections that describe the various operating modes.
7 Reset Fault. A low-to-high transition of this bit makes the amplifier attempt to clear any latched fault condition.
8 Halt. If the bit is set, the amplifier will perform a halt.
9-15 Reserved for future use.

status word   0x6041

Modes of Operation (0x 6060)


