Tsino Dynatron EtherCAT CoolDrive RC Series, User Manual

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
6.3.1.3 Relevant Parameters
0x6007 Abort connection option code
Index 0x6007 Object type ARRAY Name Abort connection option code
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 RXPDO rw INT16 -
Abort·connection·option·code
0x00-No action;
0x01-Reserved;
0x02-Execute "Disable voltage" command;
0x03-Execute "Quick stop" command.
0x603F Error code
Index 0x603F Object type ARRAY Name Error code
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 TXPDO ro UINT16 -
Fault code
Use this parameter to get the drive Fault code.
0x6040 Controlword
Index 0x6040 Object type ARRAY Name Controlword
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 RXPDO rw UINT16 - Control word
The control word shows the control commands of the drive system state machine, and each bit indicates a different
meaning.
Bit0: Pre-charge relay closed
Bit1: Main power on
Bit2: Quick stop
Bit3: Operation enabled
Bit4~Bit6: Operation method definition
Bit7: Fault reset
Bit8: Stop
Bit9~Bit10: Reserved
Bit11: Manufacturer definition
Bit12: The rising edge is valid and the encoder is reset
Bit13~Bit15: Manufacturer definition
The control word controls the device through the following bit combinations
Table 7.3-1. Meanings of control word bit combinations
Command
Control word bits Transition
No. Bit7t Bit3 Bit2 Bit1 Bit0
Shut down 0 X 1 1 0 2, 6, 8
Switch On 0 X 1 1 1 3
Disable Voltage 0 X X 0 X 7, 9, 10, 12
Quick Stop 0 X 0 1 X 7, 10, 11
Disable Operation 0 0 1 1 1 5
Enable Operation 0 1 1 1 1 4, 16
Fault Reset X X X X 15
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