INVT Goodrive350 Series, Operation Manual

Page: 95 / 135

Communication extension card EtherCAT communication card
-90-
Bit Description M/O
12-13 Operation mode specific O
14-15 Manufacturer specific O
BIT0–3, 5, AND 6 (related to control mode)
Value(binary) State
xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switched on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault
BIT4: Voltage enable, when this bit is 1, it indicates that the main circuit power supply is
normal.
BIT9: Remote, when this bit is 1, it indicates that the slave station is in the OP state, and the
master station can control the drive through PDO.
BIT10: Target reached, this bit differs in meaning under different control modes. When this bit
is 1, in cyclic synchronous position mode, it indicates that target position is reached, while in
cyclic synchronous velocity mode, it indicates that reference speed is reached; in homing
mode, it indicates that homing is completed.
BIT14: When this bit is 1, it indicates motor zero-speed state.
BIT7–8, BIT11–13, and BIT15: Reserved.
6.5.2 Device running mode
Set P00.01=2 (command running channel), P00.02=3 (EtherCAT communication channel),
and P16.18 Communication timeout. Position mode and homing mode are achieved only
when the drive is in the closed-loop mode.
6.5.2.1 Cyclic Synchronous Position Mode
1. Set 【 6060h: Mode of operations 】 to 8 (Cyclic synchronous position mode).
2. Set 【 6040h: Control word 】 to enable the drive (set it to 0x0F for enabling).
3. Set
【
607Ah: Target position
】
to the target position (unit: user unit).
4. Query for
【
6064h: Position actual value
】
to obtain actual position feedback of the motor.
5. Query for
【
6041h: Status word
】
to obtain the status feedback of the drive (following error,