Megmeet M5-N Series User Manual

Chapter 7 EtherCAT Communication
57
Bit15~Bit11
Bit10~Bit9
Bit8
Bit7
Bit6~Bit4
Bit3
Bit2
Bit1
Bit0
Manufacture
specific
Reserved
Halt
Fault
reset
Operation mode
specific
Enable
operation
Quick
stop
Enable
voltage
Switch
on
O
O
O
M
O
M
M
M
M
(In the table above, O: Optional; M: Mandatory.)
The control commands consisting of Bit0~Bit3 and Bit7 of the control word are used to switch the state machine.
The following table describes the defined control commands.
Command
Bit of controlword
Transitions
Fault reset
Enable
operation
Quick stop
Enable
voltage
Switch on
Shutdown
0
X
1
1
0
2,6,8
Switch on
0
0
1
1
1
3*
Switch on
0
1
1
1
1
3**
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
4,16
Fault reset
X
X
X
X
15
(In the table above, the bit marked "X" can be ignored.)
Bit4~Bit6 and Bit8 of the control word are defined differently in different control modes.
Bit
Operation mode
Profile position
mode
Profile
velocity
mode
Homing
mode
Interpolated
position mode
Cyclic
Synchronous
position mode
Cyclic
Synchronous
velocity mode
4
New set-point
reserved
Homing
operation
start
Enable ip
Mode
reserved
reserved
5
Change set
immediately
reserved
reserved
reserved
reserved
reserved
6
Abs/Rel
reserved
reserved
reserved
reserved
reserved
8
Halt
Halt
Halt
Halt
Halt
Halt
(See the running mode description for the definition of each bit in the table.)
7.3.3.2 Status word
The bit definition of the status word is shown in the following table.

Megmeet M5-N Series Specifications

General

Brand	Megmeet
Model	M5-N Series
Category	Servo Drives
Language	English