Instruction Manual PSx3xxEC
12
2.8.3 Manual run
- Start manual run (transmit PDO with control word = 0x11 resp. 0x12 or, if pre-
operational, transmit SDO #2024 with value 0x11 resp. 0x12): device begins to run
- End manual run by clearing the manual run command (transmit PDO with control
word = 0x10 or, if pre-operational, transmit SDO #2024 with value 0x10) or by
deasserting release (transmit PDO with control word = 0x00 or, if pre-operational,
transmit SDO #2024 with value 0x00).
- Transferring a target value during a manual run will end the manual run and the
device will immediately move on to the transmitted position (PDO with control word =
0x14 and desired target value). If pre-operational, target value in SDO #2001. The
drive then automatically deasserts the manual run bits in the control word (bits 0 and
1).
2.9
EtherCAT interface with CoE protocol (CANopen over EtherCAT)
The EtherCAT
interface uses the protocol “CANopen over EtherCAT” according
ETG1000.6 section 5.6:
One send and receive SDO per device
One asynchron send and receive PDO, active by default
Meaning of the LEDs:
1) Each of the ports (P1/P2) has an associated green
LED (“Link/Activity”).
The following states are possible for each port:
- Off
no connection
- Flickering with 10 Hz
connection; data transmission active
- On
connection; data transmission inactive
2) T
he green LED “Run” signalizeses the ESM state:
- Off
INIT
- Flashing with 2,5Hz
PRE-OPERATIONAL
- Flashing with 1Hz
SAFE-OPERATIONAL
- On
OPERATIONAL
3) The red LED
“Error” signalizes an error:
- Off
no error
- Single flashing with 1Hz
local fault, application changes ESM state
- Double flashing with 1Hz
watchdog timeout
- flashing with 2,5Hz
configuration fault
4) The yellow LED
“Motor” indicates the supply voltage for the motor:
- Off
supply voltage for motor too low or too high
- On
supply voltage for motor ok
- Flashing
supply voltage for motor ok, PSx in delivery state
