CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
PP Mode (1)
And PV Mode (3)
General
PP,PV and HOME
Mode General
All operation
modes General
Touch Probe 1
Positive Value
No matter using which operation mode, it can not be separated from the reading and writing of Control Word
(6040h) and Status Word (6041h). Master and slave stations use these two object dictionaries as a medium to
send instructions and monitor status. Following contents will highlight the definitions of each bit of the two
object dictionaries.
The bit definition of Control Word (6040 h) is as shown in Table 6.3. The table A is about bit4, bit5,bit6 and bit8,
whose definition depend on the operation mode, and mainly cover the execution, stop, etc. of each operation
mode. The table B is about bit0-3 and bit7, which manages the state transition of the 402 state machine. The
definition of. Status Word (6041h) is as shown in Table 6.4. The bit0 -7 mainly show the state machine
transition state, while the bit8-15 mainly shows the status of execution or stop in each operation mode. The
typical state transition of enable is as follows:
Initiation (00h) -> power-on (06h) -> start (07h) -> enable (0fh) -> execute or pause (depending on operation
mode to send related control instructions of bit4-6 and bit8). The state transition that triggers the running
control in each control mode is shown in Table 6.5.
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