Hiwin E1 Series Command Manual

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
3-20 HIWIN MIKROSYSTEM Corp.
MD08UE01-1812
6
Receive “Shutdown” command.
None
7
1. Receive “Quick stop” or “Disable voltage”
command.
2. ESM is in Init state.
None
8
Receive “Shutdown” command.
The drive function is disabled.
9
Receive “Disable voltage” command.
The drive function is disabled.
10
1. Receive “Quick stop” or “Disable voltage”
command.
2. ESM is in Init state.
None
11
Receive “Quick stop” command.
“Quick stop” function starts.
12
An automatic transition when “Quick stop” function
is completed
The drive function is disabled.
13
The drive detects an error.
The configured fault reaction function is executed.
14
An automatic transition after deceleration process
is completed
The drive function is disabled.
15 Receive “Fault reset” command.
Reset the fault condition if no fault exists currently
on the drive.
 PDS command code
Table 3.2.1.2
Command
Bits of 6040h (controlword)
Transition
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
Fault reset
0→1
X
X
X
X
15
*It will automatically transit to “Enable operation” after “Switched on” is executed.
 PDS state code
Table 3.2.1.3
6041h (statusword) PDS FSA state
xxxx xxxx x0xx 0000b
Not ready to switch on
xxxx xxxx x1xx 0000b
Switch on disabled
xxxx xxxx x01x 0001b Ready to switch on
xxxx xxxx x01x 0011b
Switched on
xxxx xxxx x01x 0111b
Operation enabled
xxxx xxxx x00x 0111b Quick stop active
xxxx xxxx x0xx 1111b
Fault reaction active
xxxx xxxx x0xx 1000b
Fault

Hiwin E1 Series Specifications

General

Brand	Hiwin
Model	E1 Series
Category	Servo Drives
Language	English