Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
The status word shows the device status through the following bit combinations
Table 7.3-3. Meanings of status word bit combinations
Status
Status word bit
Bit6 Bit5 Bit3 Bit2 Bit1 Bit0
Not Ready to Switch On 0 X 0 0 0 0
Switch On Disabled 1 X 0 0 0 0
Ready to Switch On 0 1 0 0 0 1
Switched On 0 1 0 0 1 1
Operation Enabled 0 1 0 1 1 1
Fault 0 X 1 1 1 1
Fault Reaction Active 0 X 1 1 1 1
Quick Stop Active 0 0 0 1 1 1
0x605A Quick stop option code
Index 0x605A Object type VAR Name Quick stop option code
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw INT16 - Emergency stop option code
0x00-Immediately stop the motor output, and the motor stops freely;
0x01-"Slope deceleration" decelerates to zero, and then enters "Switch on Disabled" state;
0x02-"Emergency stop deceleration" decelerates to zero, and the enters "Switch on Disabled" state;
0x605B Shutdown option code
Index 0x605B Object type VAR Name Shutdown option code
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw INT16 - Shutdown option code
0x00-Immediately stop the motor output, and the motor stops freely;
0x01-"Slope deceleration" decelerates to zero, and then stop the motor output.
0x605C Disable operation option code
Index 0x605C Object type VAR Name Disable operation option code
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw INT16 - Disable operation option code
0x00-Immediately stop the motor output, and the motor stops freely;
0x01-"Slope deceleration" decelerates to zero, and then stop the motor output.
0x605D Halt option code
Index 0x605D Object type VAR Name Halt option code
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 rw INT16 - Halt option code (not supported yet)
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