Nidec Digitax HD M753 EtherCAT User Manual Download Page 106

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106

Digitax HD M753 Control User Guide

Issue Number: 3

9.17.1

0x6040 Controlword

This provides the primary method of controlling the behavior of the drive
e.g. enabling, disabling, resetting, etc. Table 9-34 describes the format
of the control word. The individual bits are used in combinations
(see Table 9-35) to sequence the drive through the state machine
described in Figure 9-6.

Table 9-34 Controlword

LEGEND: ms = manufacturer-specific; r = reserved; oms = operation
mode specific; h = halt; fr = fault reset; hos = homing operation start;
eo = enable operation; qs = quick stop; ev = enable voltage;
so = switch on

Table 9-35 Command coding

9.17.2

0x6041 Statusword

This provides feedback about the current operating state of the drive.
Table 9-36 describes the format of the status word and illustrates how
the individual statusword bits are combined to represent the current
state of the drive.

Table 9-36 Statusword bit functions

LEGEND: ms = manufacturer-specific; ha = homing attained; oms =
operation mode specific; ila = internal limit active; tr = target reached;
rm = remote; w = warning; sod = switch on disabled; qs = quick stop;
ve = voltage enabled; f = fault; oe = operation enabled; so = switched on;
rtso = ready to switch on

Table 9-37 State coding

When using CoE to control the motor position, if the status word
indicates a fault due to a drive trip, then to clear the fault, the fault reset
command should be executed; if the drive is reset by the keypad then
the status word will not be reset and will still indicate a fault condition.

9.18

Common profile features

9.18.1

Sequencing control

These are the supported objects used to control the drive:

Table 9-38 Sequencing control supported objects

The behaviour of the sequencing control is shown in Figure 9-6 on
page 107. This state machine indicates how the drive will be controlled.
Status word is abbreviated to “SW” in the diagram.
The initial state of the CiA402 state machine is “NOT READY TO
SWITCH ON”. The module must be in the EtherCAT operational state
before any further state transitions can happen. If the module goes back
to pre-operational state when the CiA402 state machine is in the
“SWITCH ON DISABLED”, “READY TO SWITCH ON”, “SWITCHED
ON”, “OPERATION ENABLE” or “QUICK STOP ACTIVE” states, the
option will transition to the “NOT READY TO SWITCH ON” state.
This implies that the drive will stop according to the configured stopping
method and the drive will be inhibited after the motor has stopped.
In the state “QUICK STOP ACTIVE”, the currently selected mode of
operation indicates how a quick stop should be handled. When the drive
is stopped (using the ramp defined in 0x605A Quick_Stop_Option_Code
object), and the Quick stop option code doesn’t indicate that the state
should remain at “QUICK STOP ACTIVE”, the state will move to
“SWITCH ON DISABLED”.
If one of the drive limit switches becomes active, the drive will be slowed
down with the ramp specified by the quick stop option code.
The “internal limit active” bit (11) of the status word will be updated in
states “OPERATION ENABLED” and “QUICK STOP ACTIVE”. It will be
set as soon as the hardware/software limit becomes active, and it will be
cleared as soon as the limit becomes inactive. This bit is supported in
cyclic sync position mode, cyclic sync velocity mode, interpolation
position mode and homing mode.
The default value in mode_of_operation will be 2 (i.e. velocity mode) on
an Open loop drive or mode, and it will be 8 (Cyclic Sync Position mode)
with RFC-A or RFC-S (and on any drive and mode combination that can
support position control). It can be changed at any time as long as the
motor is at zero speed. If the mode of operation is correct and any
associated data is correct, the change will occur and the new operation
mode will be reflected in the mode_of_operation_display object. If the
mode is invalid, or data is incorrect, the mode of operation will not be
changed.