Communication profiles 79
The CiA 402 state machine is controlled by commands issued via
Control word bits 7, 3…0. The commands are listed in the table
below:
5 Ramp func-
tion genera-
tor unlock
Change set
immediately
Reserved Reserved Reserved
6 Ramp func-
tion genera-
tor use ref.
Absolute /
relative
Reserved Reserved Reserved
Control word bit
Command Fault
reset
bit 7
Enable
operation
bit 3
Quick
Stop
bit 2
Enable
voltage
bit 1
Switch
on
bit 0
State
transitions
1)
Shut down 0 X 1 1 0 2, 6, 8
Switch on 0 0 1 1 1 3
Switch on 0 1 1 1 1 3 (+4)
2)
Disable
voltage
0 X X 0 X 7, 9, 10, 12
Quick stop 0 X 0 1 X 7, 10, 11
Disable
operation
001115
Enable
operation
011114
Fault reset X X X X 15
X: Bits marked with X are irrelevant.
1)
See the state machine of the CiA 402 profile on page 82.
2)
When Control word bit 3 (Enable operation) is 1, the drive does not stay
in the SWITCHED ON state, but immediately moves to state OPERATION
ENABLED.
Bit Velocity
mode
Profile
position
mode
Profile
velocity
mode
Profile
torque
mode
Homing
mode
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