LSIS XDL-L7NH Series, Руководство пользователя, Страница: 70 / 348

4. CiA402 Drive Profile
4-2
 State Machine Control Commands
Switching states of the State Machine can be done through combinations of Controlword (0x6040) bits
setting, as described in the table below:
Command
bits of the Controlword (0x6040) State Machine
switching
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown x x 1 1 0 2, 6, 8
Switch on x 0 1 1 1 3
Switch on
+ Enable operation
x 1 1 1 1 3 + 4
Disable voltage x x x 0 x 7, 9, 10,12
Quick stop x x 0 1 x 7, 10,11
Disable operation x 0 1 1 1 5
Enable operation x 1 1 1 1 4, 16
Fault reset 0 → 1 x x x x 15
 Statusword Bit Names (0x6041)
You can check the state of the State Machine through bit combinations of the Statusword (0x6041), as
described in the table below:
Command
bits of the Statusword (0x6041)
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Not ready to switch on 0 0 x 0 0 0 0
Switch on disabled 1 1 x 0 0 0 0
Ready to switch on 0 1 x 0 0 0 1
Switched on 0 1 x 0 0 1 1
Operation enabled 0 1 x 0 1 1 1
Fault reaction active 0 1 x 1 1 1 1
Fault 0 1 x 1 0 0 0
Bit No. Data Description Note
0 Ready to switch on
For more information, refer to 9.3 CiA402 Objects.
1 Switched on
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop