Leadshine CS3E-E Series - Page 35

CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
35
Table 6.3A: Control Word (6040h) Bit Definition
Mode
Bit
15-9
8
6
5
4
General
-
Pause
Depending on the operation mode
CSP mode
(8)
-
Invalid
Invalid
Invalid
Invalid
PP mode (1)
-
Deceleration stop
Absolute / Relative
Immediate
trigger
New position point
PV mode (3)
-
Deceleration stop
Invalid
Invalid
Invalid
HM mode
(6)
-
Deceleration stop
Invalid
Invalid
Starting motion
Table 6.3B: Control Word (6040h) Bit Definition
Mode
Bit
7
3
2
1
0
Type value
Action
General
Wrong
reset
Permitted
operation
Quick stop
Voltage
output
Start
CSP mode (8)
0
0(x)
1
1
0
06h
Get power
PP mode (1)
0
0
1
1
1
07h
Start
PV mode (3)
0
0(x)
0
1
0(x)
02h
Quick
HM mode (6)
0
1
1
1
1
0fh
Enable
-
1
0(x)
0(x)
0(x)
0(x)
80h
Clear error
-
0
0
0
0
0
0
Initiation
Additional information on other bits:
 Bit 2 is quick stop,trigger logic is 0 effective,notice to separate from other trigger logic.
 Bit 7 is error reset,trigger logic is rising edge effective.
 Bit 5 is immediate trigger,trigger logic is rising edge effective.
Table 6.4 Status Word(6041h) Bit Definition
Mode
Low 8 bits
7
6
5
4
3
2
1
0
Shared
Reserved
Not started
Quick
stop
Power on
Error
Permitted
operation
Start
Ready to
start
Mode / high 8 bits
15
14
13
12
10
8
11
9
Shared
Depending on the operation mode
Limit
validity
Distance
CSP mode (8)
Invalid
Invalid
Invalid
Following
effective
Invalid
Emergency
stop
It will be
set when
the
hardware
limit
effective
0 below
PreOP
status
PP mode
(1)
Trigger
response
Parameter
has 0
Invalid
New
position
point
response
Position
arrival
Emergency
stop
PV mode
(3)
Invalid
Parameter
has 0
Invalid
Speed is 0
Velocity
arrival
Quick stop
HM mode (6)
Trigger
response
Parameter
has 0
Homing
error
Homing find
Position
arrival
Emergency
stop
Additional information on other bits:
 When the drive is put into power,the bit 4 will be set.