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Communication profiles 79
The CiA 402 state machine is controlled by commands issued via
Control word bits 7, 3…0. The commands are listed in the table
below:
5
Ramp func-
tion genera-
tor unlock
Change set
immediately
Reserved
Reserved
Reserved
6
Ramp func-
tion genera-
tor use ref.
Absolute /
relative
Reserved
Reserved
Reserved
Control word bit
Command
Fault
reset
bit 7
Enable
operation
bit 3
Quick
Stop
bit 2
Enable
voltage
bit 1
Switch
on
bit 0
State
transitions
1)
Shut down
0
X
1
1
0
2, 6, 8
Switch on
0
0
1
1
1
3
Switch on
0
1
1
1
1
3 (+4)
2)
Disable
voltage
0
X
X
0
X
7, 9, 10, 12
Quick stop
0
X
0
1
X
7, 10, 11
Disable
operation
0
0
1
1
1
5
Enable
operation
0
1
1
1
1
4
Fault reset
X
X
X
X
15
X: Bits marked with X are irrelevant.
1)
See the state machine of the CiA 402 profile on page
2)
When Control word bit 3 (Enable operation) is 1, the drive does not stay
in the SWITCHED ON state, but immediately moves to state OPERATION
ENABLED.
Bit Velocity
mode
Profile
position
mode
Profile
velocity
mode
Profile
torque
mode
Homing
mode
Summary of Contents for FEPL-02 Ethernet POWERLINK
Page 4: ......
Page 10: ...10 Table of contents ...
Page 20: ...20 About the manual ...
Page 28: ...28 Mechanical installation ...
Page 63: ...Start up 63 2 To add the adapter module right click the IF3 list entry and then click Insert ...
Page 69: ...Start up 69 3 In the Project transfer dialog box click OK 4 Wait for the transfer to finish ...
Page 70: ...70 Start up When the transfer is finished the PLC starts up in the RUN mode ...
Page 90: ...90 Communication profiles ...
Page 100: ...100 Communication protocol ...
Page 104: ...104 Diagnostics ...
Page 108: ...108 Technical data ...