ABB FECA-01 EtherCAT, User Manual

Page: 78 / 148

78 Communication profiles
ABB Drives communication profile

Control word and Status word
The Control word is the principal means for controlling the drive
from a fieldbus system. It is sent by the fieldbus master station to
the drive through the adapter module. The drive switches between
its states according to the bit-coded instructions in the Control
word and returns status information to the client in the Status word.
The contents of the Control word and the Status word are detailed
below. The drive states are presented on page 83 . The ABB Drives
Control word can be found in CoE object 0x2101 and the ABB
Drives Status word in CoE object 0x2104.
Control word contents
The table below shows the contents of the Control word for the
ABB Drives communication profile. The upper case boldface text
refers to the states shown in the state machine on page 83 .
Bit Name Value Description
0 OFF1_CONTROL 1 Proceed to READY TO
OPERATE .
0 Stop along the currently active
deceleration ramp.
Proceed to
OFF1 ACTIVE ;
proceed to READY TO SWITCH
ON unless other interlocks
(OFF2, OFF3) are active.
1 OFF2_CONTROL 1 Continue operation (OFF2
inactive).
0 Emergency OFF, coast to stop.
Proceed to
OFF2 ACTIVE ,
proceed to SWITCH-ON
INHIBITED .