Delta CMM-EC02 - Page 59

Status Switching Definition table
Status
Switching
Event Action
0、1
Auto run after powering on Activate the device and initialize.
2
Shutdown command
N/A
3
Switch on command
Motor drive prepares for servo on
4 Enable operation command
Motor drive has servo on and is in
operation.
5
Disable operation command
Servo has servo off.
6
Shutdown command
N/A
7
Disable voltage or Quick stop command
N/A
8
Shutdown command
Motor drive has servo off.
9
Disable voltage command
Motor drive has servo off.
10
Disable voltage or Quick stop command
N/A
11
Quick stop command
Enable Quick Stop function.
12
Disable voltage command
Motor drive has servo off
13、14
Warning / Fault codes pop up Motor drive has servo off.
15
Warning / Fault codes clear
N/A
16
Enable operation；no alarm command
Restart operation command.
Via Controlword (6040h), status can be changed, the commands are as follows:
Command
Bit of Controlword (6040h)
Status Change
Bit 7
Bit 3
Bit 2
Bit 1
Bit 0
Shutdown 0 X 1 1 0
2、6、8
Switch on 0 0 1 1 1 3
Switch on +
Enable operation
0 1 1 1 1 3 + 4
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、16
Fault reset X X X X 15
NOTE: 0 = Bit is off; 1 = Bit is on; X = Bit is not affected; = positive edge triggering
Object 6041h：Statusword
Index
6041h
Name
Statusword
Object Type
Variable
Data Type
UNSIGNED16
Read-Write Permission
RO
PDO MAPPING
SETTING
Yes
Setting Range
UNSIGNED16
Factory Setting
0
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Send Quote Requests to info@automatedpt.com
Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com