Fastech Ezi-SERVOII EtherCAT TO, User Manual

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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 4.3 Control word .
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.
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