Emotron VS10 - Device Profile Cia 402

8.2.1. Device profile CiA 402
For control via device profile CiA 402, the parameters listed in the following can be
mapped to network register.
Details
• The mapping entry for the CiA 402 control word is 0x60400010.
• The mapping entry for the CiA 402 status word is 0x60410010.
• General information about the process of data mapping can be found in the chapter of
the same name for the corresponding network.
•
For further CiA 402 parameters, see chapter "Device profile CiA 402".  299
Parameter
Name / value range / [default setting]
Info
0x6040
CiA: Controlword
0 ... [0] ... 65535
Mappable CiA 402 control word with bit assignment according to device
profile CiA 402.
Bit 0 Switch on 1 = switch-on
Bit 1
Enable voltage
1 = DC bus: Establish readiness for operation
Bit 2
Quick stop
0 = activate quick stop
Bit 3
Enable operation
1 = enable operation
Bit 4
Operation mode specific
Bits are not supported.
Bit 5 Operation mode specific
Bit 6
Operation mode specific
Bit 7
Fault reset
0-1 edge = reset error
Bit 8
Halt
(from version 04.00)
1 = stop motor (ramping down to frequency setpoint 0 Hz)
Bit 9
Operation mode specific
Operating mode dependent
Bit 14 Release holding brake
1 = releasing holding brake manually
CAUTION!
The manually triggered "Release holding brake" command has a direct
impact on the "Release holding brake [115]" trigger.
Thus, the holding
brake can be manually released if the power section is switched off.
The responsibility for a manual release of the holding brake has the
external trigger source for the "Release holding brake" command.
 Holding brake control

302
0x6041
(P780.00)
CiA: Statusword
(CiA: Statusword)
Read only
Mappable CiA 402 status word with bit assignment according to device
profile CiA 402.
Bit 0 Ready to switch on 1 ≡ drive ready to start
Bit 1
Switched on
1 ≡ drive switched-on
Bit 2
Operation enabled
1 ≡ operation enabled
Bit 3
Fault
1 ≡ fault or trouble active
Bit 4
Voltage enabled
1 ≡ DC bus ready for operation
Bit 5 Quick stop 0 ≡ quick stop active
Bit 6
Switch on disabled
1 ≡ operation inhibited
Bit 7
Warning
1 ≡ warning active
Bit 8
RPDOs deactivated
1 ≡ cyclic PDOs have been deactivated.
Bit 9
Remote
1 ≡ inverter can receive commands via network.
Bit is not set in the operating mode 0x6060 (P301.00) = "MS: Velocity
mode [-2]".
Bit 10
Target reached
1 ≡ the actual position is in the window.
Bit 11
Internal limit active
1 ≡ internal limitation of a setpoint active.
Bit 14 Holding brake released 1 ≡ holding brake released
Bit 15
Safe torque off (STO) not active
≡ STO active
≡ STO not active