EtherCAT
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
21
Action with positive edges in the control word Bits:
Bit
Action
0
Enable the servo amplifier when the switch-on disable is cancelled (Bit1 =
1).
1
Cancelling the switch-on disable.
2
Activate the display of Bit 5 in the status word when Bit 0 & Bit 1 = 1 enable
for Bit 3
in the control word
3
Set value enable when Bit0, Bit1 and Bit2 = 1.
7
Delete error, transmit command (CLRFAULT). With a set Bit 19 of the AS-
CII parameter SERCSET and a present fault that involves a hardware re-
set, the servo amplifier generated an F29.
15
Start of a reference run, when the drive is in the operating mode referen-
cing (OPMODE 8).
12
Transmit a SAVE command.
Action with negative edges in the control word Bits:
Bit
0
Switch off drive (transmit the ASCII command DS).
1
If Bit 1 has no negative edge, brake and disable with the ramp DECSTOP.
2
When Bit 1 and Bit 2 do not show negative edges, brake with the ramp
DECDIS and remain enabled.
3
Switch off set value acceptance from the EtherCAT interface and stop the
drive in the operating mode speed control (OPMODE 0).
7
Delete fault (CLRFAULT), delete command channel.
15
Delete reference run command channel.
12
Delete SAVE command channel.
4.4.3
Bits of the status machine (status word)
Status
Bit 6 =
Switch-on
disable
active
Bit 5 =
No E-
STOP
active
Bit 3 =
Error
Bit 2 =
Operation
enabled
Bit 1 =
Switched
on
Bit 0 =
Ready to
switch on
Not Ready
to Switch
On
1
X
0
0
0
0
Switch On
Disabled
1
X
0
0
0
0
Ready to
Switch On
0
X
0
0
0
1
