Parker ECL E Series, Manual

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4. CiA 402 Drive Profile
43
Bit 5 Bit 4 Description
0
1
0 → 1
0
→
1
Execute position movement command after completion of previous command.
Execute position movement command with ignorance of previous position.
Table 4.13: Control Word of Bit 4, 5
Bit Value Description
6
0
1
Target position (607Ah) is absolute position.
Target position (607Ah) is relative position.
Table 4.14: Control Word of Bit 6
Bit Value Description
8 1 Position movement command cancelled and stops according to set action at Halt option code (605Dh).
Table 4.15: Control Word of Bit 8 Status
word (6041h) under position control mode are as follows.
Table 4.16: Profile Position Mode of Status word Please
refer to drive status control for the rest of bits.
Table 4.17: Status word of Bit 10
Bit Value Description
12
0
Control Word of New Set-Point(Bit 4) has reset and previous position movement command
processed. Able to input new position.
1
Control word of New Set-Point(Bit 4) is already set or previous position movement command
is under processing.
Table 4.18: Status word of Bit 12
Bit Name Description
0 Ready to switch on
1 Switched on
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning
8 Reserved
8
10
11
12
Remote
Target Reached
Internal Limit Active
Set-point Acknowledge
Reached at target position
‘New Set-Point’ Response
13
14 ∼ 15
Following Error
Reserved
Following Error
Bit Value Description
10
0
Control Word of Halt(Bit 8) = 0: Not reached at the target position.
Control Word of Halt(Bit 8) = 1: Stop status of controller.
1
Control Word of Halt(Bit 8) = 0: Reached at the target position.
Control Word of Halt(Bit 8) = 1: Controller stops.