Oriental motor aSTEP AZ mini Driver, Руководство пользователя

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Object dictionary
114
3 E
therC
AT c
ommunica
tion
Sub Name Description
09h Delay time [ns] The delay time is not supported. The read value is always 0.
20h Sync error Changes to 1 if the sync error is detected.
6-3 Objects of profile area
Objects in the profile area are defined by the CiA402 drive profile. These are used to set the driver operation and to
indicate the status.
z
Error code (603Fh)
This indicates the error code being generated in the driver.
Index Sub Name Type Access PDO Save Range Update
603Fh 00h Error code U16 RO TxPDO − − −
If an alarm is generated in the driver, an error code is indicated. The lower 8 bits of the error code
represents the alarm code, and the upper 8 bits represents FFh. "0000h" is indicated when an alarm is
not generated. Refer to p.149 for alarm codes.
z
Controlword (6040h)
This is used to control the transition of the drive state machine, start/stop of operation, etc.
Index Sub Name Type Access PDO Save Range Update
6040h 00h Controlword U16 RW RxPDO −
0000h to FFFFh
(Initial value: 0000h)
A
Details of range
Bit Name Description
0 Switch on
Controls the status of the drive state machine.
Refer to “State transition of drive state machine” on p.46.
1 Enable voltage
2 Quick stop
3 Enable operation
4
Operation mode specific
It varies depending on the operation mode.
Refer to each operation mode of “3 Drive profile” for details.
5
6
7
Fault reset Resets the alarm when changing from 0 to 1.
8 Halt
Refer to each operation mode of “3 Drive profile” for details.
9 Operation mode specific
10 Reserved Reserved
11
Manufacturer specific
Manufacturer-specific bit.
Refer to each operation mode of “3 Drive profile” for details.
12
13
14
15