EM3E Series EtherCAT Stepper Drive User Manual
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object dictionaries as a medium to send instructions and monitor status. Following contents
will highlight the definitions of each bit of the two object dictionaries.
The bit definition of Control Word (6040 h) is as shown in Table 6.3. The table A is about bit4,
bit5, bit6 and bit8, whose definition depend on the operation mode, and mainly cover the
execution, stop, etc. of each operation mode. The table B is about bit0-3 and bit7, which
manages the state transition of the 402 state machine. The definition of. Status Word (6041h)
is as shown in Table 6.4. The bit0 -7 mainly show the state machine transition state, while the
bit8-15 mainly shows the status of execution or stop in each operation mode. The typical state
transition of enable is as follows:
Initiation (00h) -> power-on (06h) -> start (07h) -> enable (0fh) -> execute or pause (depending
on operation mode to send related control instructions of bit4-6 and bit8). The state transition
that triggers the running control in each control mode is shown in Table 6.5.
Table 6.3A: Control Word (6040h) Bit Definition
Mode
Bit
15-9
8
6
5
4
General
-
Pause
Depending on the operation mode
CSP mode
(8)
-
Invalid
Invalid
Invalid
Invalid
PP
mode
(1)
-
Deceleration stop
Absolute
/
Relative
Immediate
trigger
New
position
point
PV mode
(3)
-
Deceleration stop
Invalid
Invalid
Invalid
HM mode
(6)
-
Deceleration stop
Invalid
Invalid
Starting motion
Table 6.3B: Control Word (6040h) Bit Definition
Mode
Bit
7
3
2
1
0
Type
value
Action
General
Wrong
reset
Permitte
d
operation
Quick
stop
Voltage
output
Start
CSP mode
(8)
0
0(x)
1
1
0
06h
Get
power
PP
mode
(1)
0
0
1
1
1
07h
Start
PV
mode
(3)
0
0(x)
0
1
0(x)
02h
Quick
HM mode
(6)
0
1
1
1
1
0fh
Enable
-
1
0(x)
0(x)
0(x)
0(x)
80h
Clear
error
-
0
0
0
0
0
0
Initiatio
n
Additional information on other bits:
Bit 2 is quick stop,trigger logic is 0 effective,notice to separate from other trigger logic.
Bit 7 is error reset,trigger logic is rising edge effective.
