SYNAPTICON SOMANET Circulo 7 - Mode Specific Bits of the Controlword; Timing Diagram

CommandCommand
b7b7
b3b3
b2b2
b1b1
b0b0
TransitionsTransitions
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 (NOTE)
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
1
x
x
x
x
15
NOTE Automatic transition to Enable Operation state after executing SWITCHED ON state functionality.
4.1.7.4.2 Mode specific bits of the Controlword
Mode of operationMode of operation
88
77
66
55
44
Profile Position
Halt
N/A
N/A
Change set immediately
New set-point
Profile Velocity
Halt
N/A
Profile Torque
Halt
N/A
Cyclic Synchronous Position
No Operation mode specific bits used
Cyclic Synchronous Velocity
Cyclic Synchronous Torque
Homing
Halt
N/A
Homing operation start
4.1.7.5 Timing Diagram
Synapticon Documentation
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