5. CiA402 equipment regulation
This section describes the modes of operation specified by CiA402 when the motor drive is in the
EtherCAT mode. The contents include basic operation and setting of related objects. The host controller
controls the motor drive through the control word (OD 6040h) and read the current status of the motor
drive through the status word (OD 6041h). The motor drive follows the commands from the host
controller to run the motors.
5.1 CANopen over Ethernet (CoE) State Machine
NOTE: As shown in the diagram above, the strings beside the arrows are the control words and the strings in the
squares are the status words.
The state machine can be divided into three blocks.
Motor drive doesn’t have PWM output.
Motor drive has PWM output.
Send Quote Requests to info@automatedpt.com
Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com
Send Quote Requests to info@automatedpt.com
Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com
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