Fastech Ezi-STEPII EtherCAT MINI, User Manual

Page: 34 / 95

4. CiA402 Drive Profile
4.1.1 Control word
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
- - oms
2
- - - Halt
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Fault Re-
set
oms Enable
Operation Quick Stop Enable
Voltage Switch On
Table 4.3: Control word
Able to control the status of controller by 0
∼
3, 7 bits of Control word and bits per target status are as
follows.
Command
Bit of Control word
Transition
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 x 1 1 0 2, 6, 8
Switch on 0 0 1 1 1 3
Switch on + Enable operation 0 1 1 1 1 3 + 4
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, 16
Fault reset 0
→
1 x x x x 15
Table 4.4: Set Control word for status movement
If Quick stop option code (605Ah) of value is 5, 6, 7, 8 under Quick stop active status, waiting at corre-
spondent status. Able to move to Operation Enabled status by ‘Enable Operation’ command of Control
word.
Other bits are as follows.
Bit Value Description
8
0 The motion is executed or continued.
1 Stop motor according to Halt option code (605Dh).
Table 4.5: Bit description of Control word
4.1.2 Status word
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Safety Ac-
tivated
3
oms Internal
Limit
Ac-
tive
oms Remote oms
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- Switch on
disabled Quick stop Voltage
enabled Fault Operation
enabled Switched
on Ready to
switch on
Table 4.6: Status word
2
oms : it’s an abbreviation for Operation mode specific. Functions vary depending on the Operation Mode. Please refer to the
Control word description for each Operation Mode.
Rev.37
FASTECH Co., Ltd.
34