Estun Summa Series - Page 96

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-10
Relevant Objects
Object
Bit
Name
Value
Description
Controlword
6040h
0
Switch on
0
Disabled
If Bit0 to Bit3 are all 1, the Drive
starts running.
1
Enabled
1
Enable voltage
0
Disabled
1
Enabled
2
Quick stop
0
Disabled
1
Enabled
3
Enable operation
0
Disabled
1
Enabled
4
New set-point
0 → 1
Starts positioning at the rising edge from 0 to 1 of
the signals. In this timing, the value s of 607Ah,
6081h, 6083h, and 6084h are obtained.
5
Change set
immediately
0
Starts the next positioning after the current
positioning completes (target reached)
1
Starts the next positioning immediately
6
abs/rel
0
Treats the target position as an absolute value.
1
Treats the target position as a relative value.
Statusword
6041h
10
Target reached
0

Halt (Bit 8 in Controlword) = 0: Target position
not reached

Halt (Bit 8 in Controlword) = 1: Axis
decelerates
1

Halt (Bit 8 in Controlword) = 0: Target position
reached

Halt (Bit 8 in Controlword) = 1: Velocity of
axis is 0
12
Set-point
acknowledge
0
Previous set-point already processed, waiting for
new set-point
1
Previous set-point still in process, set-point
overwriting shall be accepted
13
Following error
0
No following error
1
Following error
15
Homeflag
0
Homing not completed
1
Homing completed
NOTE: Bit10 of Statusword is set to 1 after the Quick Stop has been completed, and the Servo is in the Stop state.
Index
Subindex
Name
Access
Data Type
Unit
Range
Default
603F
00
Error Code
RO
UINT16
－
0 to 65535
0
6040
00
Controlword
RW
UINT16
－
0 to 65535
0
6041
00
Statusword
RO
UINT16
－
0 to 0xFFFF
0