4. CiA402 Drive Profile
Bit
Value
Description
4
0
→
1
Execute the motion command to a new location. The motion command method is de-
termined by the values of bit 5, 12, 13.
5
0
If the motor is moving when the new motion command is executed, the new motion
command is executed after the previous command is completed.
1
If the motor is moving when the new motion command is executed, it ignored the pre-
vious command and moves to the new position immediately.
6
0
The value of Target position (607Ah) is destination position. (absolute position)
1
The value of Target position (607Ah) is distance. (relative position)
8
1
Cancels the motion command and stops it according to the value of Halt option code
(605Dh).
12
0
It’s a normal motion command.
1
The motion command works as a push command.
13
0
In case of Push command, if an object (work) is detected, it stops and the Push com-
mand is released.
1
In case of Push command, it stops when an object (work) is detected, and moves again
when the detected object disappears. When a Halt command is received, the Push
command is released.
Table 4.16: Bit description of Control word under Profile Position Mode
For other bits, please refer to
.
Status word
Status word (6041h) under Profile Position Mode are as follows.
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Safety Acti-
vated
Push
De-
tected
Following
Error
Set-Point
Acknowl-
edge
Internal
Limit Active
Target
Reached
Remote
Push State
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
-
Switch
on
disabled
Quick stop
Voltage en-
abled
Fault
Operation
enabled
Switched on
Ready
to
switch on
Table 4.17: Status word under Profile Position Mode
The functions of bits added in Profile Position Mode are as follows.
Rev.37
FASTECH Co., Ltd.
46
Summary of Contents for Ezi-SERVOII EtherCAT TO
Page 10: ...Chapter 1 Product Specification Rev 37 FASTECH Co Ltd 10...
Page 12: ...1 Product Specification 1 2 Product Dimension Figure 1 2 Dimensions Rev 37 FASTECH Co Ltd 12...
Page 15: ...Chapter 2 Installation Rev 37 FASTECH Co Ltd 15...
Page 29: ...Chapter 3 EtherCAT Communication Rev 37 FASTECH Co Ltd 29...
Page 35: ...Chapter 4 CiA402 Drive Profile Rev 37 FASTECH Co Ltd 35...
Page 67: ...Chapter 5 Operation Rev 37 FASTECH Co Ltd 67...
Page 71: ...Chapter 6 EtherCAT Object Dictionary Rev 37 FASTECH Co Ltd 71...