ZLTECH ZLIM42C, Manual

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ZLIM42C Integrated Open Loop Step Motor Manual Version 1.03 ZLIM42C Integrated Open Loop Step Motor Manual Version 1.03
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Status word switching state
State
Status word
Bit6 Bit5 Bit3 Bit2 Bit1 Bit0
Not ready to switch on 0 X 0 0 0 0
Switch on disabled 1 X 0 0 0 0
Ready to switch on 0 1 0 0 0 1
Switched on 0 1 0 0 1 1
Operation enabled 0 1 0 1 1 1
Quick stop active 0 0 0 1 1 1
Fault reaction active 0 X 1 1 1 1
Fault 0 X 1 0 0 0
Bits marked as X are invalid
5.3.2 Control word and status word
The start and stop control instruction and status description of the driver are mainly
implemented through the control word 6040h and status word 6041h. Therefore, the
skilled use of the control word and status word is very necessary. The following table
briefly describes the definition of each bit of control word and status word.
Control
word
Common
Command Function Description
6040h
00 Initialization step 0: the state of the lower 4 bits of 6041 is 0000,
the motor is released;
06 Initialization step 1: the state of the lower 4 bits of 6041 is 0001,
the motor is released;
07 Initialization step 2: the state of the lower 4 bits of 6041 is 0011,
the motor is enabled;
0F Initialization step 3: the state of the lower 4 bits of 6041 is 0111,
the motor is enabled;
0F In speed mode (6061 = 3), start command;
0F->1F
In homing mode (6061 = 6), start command;
In absolute motion of position mode (6061 = 1), start command;
4F->5F In relative motion of position mode (6061 = 1), start command.
Status word Bit definition Function Description
6041h
Bit0~Bit3
6040=0: xxxx xxxx xxxx 0000
6040=6: xxxx xxxx xxxx 0001
6040=7: xxxx xxxx xxxx 0011
6040=F: xxxx xxxx xxxx 0111
Bit7
0: The driver is normal;
1: Driver alarm;
Bit8
0: Homing is not completed;
1: Homing has been completed;
Bit11
0: Bit4 state of 6040h is 0;
1: Bit4 state of 6040h is 1;
Bit13
0: Motor release;
1: Motor is enabled;
Bit14
0: The motor is stopped;
1: The motor is running;
Bit15
0: Motion is not in place in position mode;
1: Motion is in place in position mode.
Eg: initialize the driver after power-on, and enter the normal working state after
initialization. This operation is generally performed after power-on.
Master Station Slave Station Slave Station Status Word
00: 01 00 NMT Initialize NMT Initialize
601:2B 40 60 00 00 00 00 00 581:60 40 60 00 00 00 00 00 6041: xxxx xxxx xxxx 0000
601:2B 40 60 00 06 00 00 00 581:60 40 60 00 00 00 00 00 6041: xxxx xxxx xxxx 0001
601:2B 40 60 00 07 00 00 00 581:60 40 60 00 00 00 00 00 6041: xxxx xxxx xxxx 0011
601:2B 40 60 00 0F 00 00 00 581:60 40 60 00 00 00 00 00 6041: xxxx xxxx xxxx 0111
5.3.3 Working Mode
CANopen sets the driver working mode through the object 6060h
(Modes_of_operation), and reflects the current working mode status of the driver