Fieldbus control through the embedded fieldbus interface (EFB) 449
Operation mode specific bits
Device commands are triggered by the Control word bits as follows:
1) Bits marked as x are irrelevant
2) When Control word bit 3 (Enable operation) is 1, the drive does not perform any
tasks in the
Switched on
state.When bit 3 is 0, the state
Switched on
tasks are
performed.
The states and state transitions refer to those shown in the
State transition diagram
for the CiA 402 profile
on page
452
.
The following stop modes are associated with the control commands and other
events:
7
Fault reset
8
Halt
9...10
Reserved
11...15 Drive specific
Bit
Velocity mode
Profile velocity mode
Profile torque
4
Ramp function generator enable
Reserved
Reserved
5
Ramp function generator unlock
Reserved
Reserved
6
Ramp function generator use ref
Reserved
Reserved
Command
Control word bit
1)
Fault reset,
bit 7
Enable
operation,
bit 3
Quick stop,
bit 2
Enable
voltage,
bit 1
Switch on,
bit 0
State
transitions
Shut down
0
x
1
1
0
2,6,8
Switch on
0
0
1
1
1
3
2)
Switch on
0
1
1
1
1
3
2)
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
Fault reset
0=>1
x
x
x
x
15
Command/Event
Drive stop mode
Quick stop
Emergency stop
Shut down
Coast stop
Disable voltage
Ramp stop
Halt
Ramp stop (configurable with CANopen object 605Dh
Bit
Name
ACS380 FW.book Page 449 Friday, May 4, 2018 4:18 PM
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