Estun Summa ED3S, Product Manual

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Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved. 6-10
Relevant Objects
Object Bit Name Value Description
Controlword
6040h
0 Switch on
0 Disabled
If Bit0 to Bit3 are all 1, the Drive
starts running.
1 Enabled
1 Enable voltage
0 Disabled
1 Enabled
2 Quick stop
0 Disabled
1 Enabled
3 Enable operation
0 Disabled
1 Enabled
4 New set-point 0 → 1
Starts positioning at the rising edge from 0 to 1 of
the signals. In this timing, the value s of 607Ah,
6081h, 6083h, and 6084h are obtained.
5
Change set
immediately
0
Starts the next positioning after the current
positioning completes (target reached)
1 Starts the next positioning immediately
6 abs/rel
0 Treats the target position as an absolute value.
1 Treats the target position as a relative value.
Statusword
6041h
10 Target reached
0

Halt (Bit 8 in Controlword) = 0: Target position
not reached

Halt (Bit 8 in Controlword) = 1: Axis
decelerates
1

Halt (Bit 8 in Controlword) = 0: Target position
reached

Halt (Bit 8 in Controlword) = 1: Velocity of
axis is 0
12
Set-point
acknowledge
0
Previous set-point already processed, waiting for
new set-point
1
Previous set-point still in process, set-point
overwriting shall be accepted
13 Following error
0 No following error
1 Following error
15 Homeflag
0 Homing not completed
1 Homing completed
NOTE : Bit10 of Statusword is set to 1 after the Quick Stop has been completed, and the Servo is in the Stop state.
Index Subindex Name Access Data Type Unit Range Default
603F 00 Error Code RO UINT16
－
0 to 65535 0
6040 00 Controlword RW UINT16
－
0 to 65535 0
6041 00 Statusword RO UINT16
－
0 to 0xFFFF 0