Fieldbus control through the embedded fieldbus interface (EFB) 399
Operation mode specific bits
Device commands are triggered by the Control word bits as follows:
1) Bits marked as x are irrelevant
2) When Control word bit 3 (Enable operation) is 1, the drive does not perform any
tasks in the Switched on state.When bit 3 is 0, the state Switched on tasks are
performed.
The states and state transitions refer to those shown in the State transition diagram
for the CiA 402 profile on page 402.
The following stop modes are associated with the control commands and other
events:
7Fault reset
8Halt
9...10 Reserved
11...15 Drive specific
Bit Velocity mode Profile velocity mode Profile torque
4 Ramp function generator enable Reserved Reserved
5 Ramp function generator unlock Reserved Reserved
6 Ramp function generator use ref Reserved Reserved
Command Control word bit
1)
Fault reset,
bit 7
Enable
operation,
bit 3
Quick stop,
bit 2
Enable
voltage,
bit 1
Switch on,
bit 0
State
transitions
Shut down 0 x 1 1 0 2,6,8
Switch on 00 111 3
2)
Switch on 01 111 3 2)
Disable voltage 0 x x 0 x 7,9,10,12
Quick stop 0 x 0 1 x 7,10,11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4
Fault reset 0=>1 x x x x 15
Command/Event Drive stop mode
Quick stop Emergency stop
Shut down Coast stop
Disable voltage Ramp stop
Halt Ramp stop (configurable with CANopen object 605Dh
Bit Name
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