ABB FECA-01 EtherCAT, Руководство пользователя

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74 Communication profiles
The CiA 402 state machine is controlled by commands issued via
Control word bits 7, 3…0. The commands are listed in the table
below:
Control word bit
Command Fault
reset
bit 7
Enable
operation
bit 3 Quick
Stop
bit 2 Enable
voltage
bit 1 Switch
on
bit 0 State
transitions
1)
Shutdown 0 X 1 1 0 2, 6, 8
Switch on 0 0 1 1 1 3
Switch on 0 1 1 1 1 3 (+4)
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 X X X X 15
X: Bits marked with X are irrelevant
1)
See the figure on the state machine of the CiA 402 communication
profile placed further in this section.
2)
When Control word bit 3 (Enable operation) is 1, the drive does not stay
in the SWITCHED ON state, but immediately moves to state OPERATION
ENABLED.