400 Fieldbus control through the embedded fieldbus interface (EFB)
The halt mode is controlled with bit 8 of the CiA 402 control word. When the halt bit is
set during the OPERATION ENABLED state, the drive stops and the state machine
remains in the OPERATION ENABLED state. When the bit is reset, the drive starts
running again. In all modes supporting the halt function, CiA 402 Status Word bit 10
(target reached) is set when the drive is stopped.
Note: The drive may not necessarily stop completely as it is still the in running
(OPERATION ENABLED) state.
The following table summarizes the drive features used to perform the ramp stop
during the halt function, as well as the different halt option codes supported by each
CiA 402 operating mode. The halt option code is selected by CANopen object 605Dh.
Status Word for the CiA 402 profile
Status word of the CiA 402 profile can be read from the object 6041h.The table below
shows the fieldbus Status Word for the CiA 402 control profile. The embedded
fieldbus interface converts the drive Status Word into this form for the fieldbus.
Fault Fault reaction specified by the drive. Typically a Coast stop.
Mode Description Halt option codes
Profile velocity Dynamic limiter ramp 1
Profile torque Sets the torque reference to 0. Ramp depends on the drive
parameters
1
Velocity Halt mode1: Ramp input is set to 0.
Halt mode 2,3,4: Ramp output is set to 0.
1, 2, 3, 4
Other modes Halt bit has no effect. N/A
Bit Name
0 Ready to switch on
1 Switched on
2 Operation enabled
3Fault
4 Voltage enabled
5Quick stop
6 Switch on disabled
7 Warning
8 Drive-specific bit
9 Remote
10 Target reached
11 Internal limit active
12...13 Operation mode specific
14...15 Drive specific
Command/Event Drive stop mode
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