Instruction Manual HIPERDRIVE with EtherCAT
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Bit 1
:
No OFF2
reserved, must be set to 0
Bit 2
:
No OFF3
reserved, must be set to 0
Bit 3
:
Operation enabled
The drive goes from the state
“Ready for operation” to the state “Operation
enabled
” (bits 0 and 10 must still be set).
Bit 4
:
Function in positioning mode:
No stop
The bit must be continuously active to execute a run command. When the bit
is reset, the drive stops immediately, the current run command is dismissed.
The run command is activated by an edge to bit 6.
Function in speed control mode:
CLOCKWISE
If the bit is set, the movement will start in a CLOCKWISE direction, otherwise
it will be COUNTERCLOCKWISE.
Bit 5
:
Function in positioning mode:
No intermediate stop
The bit must be continuously active to execute a run command. When the bit
is reset, the drive stops immediately but the current run command is not
dismissed. The run command is continued when bit 5 is set once again.
Function in speed control mode:
Endless
When this bit is set, the movement in speed control mode is endless,
otherwise until it reaches the respective end of the positioning range.
Bit 6
:
Function in positioning mode:
Activate run command
Every edge releases a run command or new target value (toggle bit). A rising
or falling edge may only be carried out if bit 12 of the status word
acknowledges that the previous run command has been accepted.
In other words, the run command is activated if this bit complements the
current state of bit 12 of the status word.
Function in speed control mode:
Start speed control mode
A rising edge triggers a run in speed control mode, a falling edge completes it.
Bit 7
:
Acknowledge fault
A negative edge acknowledges a current fault condition.
Bit 8
:
Inching 1 ON
The drive runs with jog target value 1 with the step width and in the direction
indicated in the parameters.
Bit 9
:
Inching 2 ON
The drive runs with jog target value 2 with the step width and in the direction
indicated in the parameters.
