Leadshine EM3E Series, User Manual

Page: 41 / 59

EM3E Series EtherCAT Stepper Drive User Manual
41
Table 6.5: State transition of each mode control operation
Mode
Action
PreOP
Initializati
on
Get
powe
r
Start
Enabl
e Start
operation Change
position
Stop Error
CSP
mode
(8)
6040
Create a
communica
tion OP state
and activate
the NC axis
00h 06h 07h 0fh
1fh
Master
station
send
instructio
n
Master
station
control
Master
station
stop
position
instructio
n
-
6041 250h 231h 233h 1237h 1237h 1237h 1237h 238h
PP
mode
(1)
6040
Create a
communica
tion
OP
state, setting
motion
parameters
00h 06h 07h 0fh -
2fh->3f
h
10fh -
6041 250h 231h 233h 8237h 1237h
1637h->
1237h
1737h 1238h
PV
mode
(3) 6040
Create a
communica
tion
OP
state,
setting
motion
parameters
00h 06h 07h 0fh
Immediat
e
operation
after
enabling
Change
the
speed
10fh -
6041 250h 231h 233h 1637h 1637h 1637h 1737h 1638h
HM
mode
(6)
6040
Create a
communica
tion
OP
state,
setting
motion
parameters
00h 06h 07h 0fh 1fh - 10fh -
6041 250h 231h 233h 8337h 237h 237h 737h 238
Additional information on other bits:

When the PP mode changes the position, it needs to give the bit5 rising edge of the
control word to start the new position motion.