Xinje DF3E Series, User Manual

Page: 75 / 189

67
Please note that the other bit logic and the opposite actions are performed.
bit8(halt):
At 1, the motor deceleration pause is performed through 605Dh (Halt selection code).
After pause, return to 0 and start the action.
However, the operation is interrupted through 1 in HM control mode, and even if 0 is returned, it cannot be
opened again.
Bit6-4 (operation mode specific):
The following shows the change of inherent OMS bit in OP mode (For details, please refer to the chapter of
related objects of each control mode.)
Op-mode Bit6 Bit5 Bit4
PP absolute /elative change set immediately new set-point
PV - - -
TQ - - -
HM - - start homing
4.6.2.3 Statusword (6041h)
The command to control the slave station (servo driver), PDS status migration is set through 6040h (control
word).
Index Sub-
Index
Name/
Description
Range Date
Type
Access PDO Op-
mode
6041h 00h Statusword 0~65535 U16 ro TxPDO All
Indicates the status of the servo driver.
Bit information
15 14 13 12 11 10 9 8
r oms ila tr rm r
7 6 5 4 3 2 1 0
r sod qs ve f oe so rsto
r = reserved(No correspondence) sod = switch on disabled
oms = operation mode specific qs = quick stop
(control mode based on bit) ve = voltage enabled
ila = internal limit active f = fault
tr= target reached oe = operation enabled
rm = remote so = switched on
rtso = ready to switch on
bit6,5,3-0 (switch on disabled/quick stop/fault/operation enabled/switched on/ready to switch on): confirm the
PDS status according to this Bit. The status and corresponding bit are shown below.
StatusWord PDS State
xxxx xxxx x0xx 0000 b Not ready to switch on Initialization incomplete state
xxxx xxxx x1xx 0000 b Switch on disabled Initialization complete state
xxxx xxxx x01x 0001 b Ready to switch on Initialization complete state
xxxx xxxx x01x 0011 b Switched on Servo enable OFF/servo ready
xxxx xxxx x01x 0111 b Operation enabled Servo enable ON
xxxx xxxx x00x 0111 b Quick stop active Stop at once
xxxx xxxx x0xx 1111 b Fault reaction active Fault (alarm) judgement
xxxx xxxx x0xx 1000 b Fault Fault (alarm) status
The PDS state machine of DF3E series servo can be monitored through U0-99, and the specific meaning can be
referred to the following table:
U0-99 Description
0x01 NOT READY TO SWITCH ON
0x02 SWITCH ON DISABLED
0x04 READY TO SWITCH ON
0x08 SWITCHED ON
0x10 OPERATION ENABLED
0x20 QUICK STOP ACTIVE