CiA 402 Drive Profile
✓ Transition 7: the Quick stop and Disable voltage commands have been received. The state transition is
performed, but no action is taken by the drive.
✓ Transition 8: the Shutdown command has been received. During the drive operation it is disabled, blocking the
supply to the motor. It corresponds to reset the bit 1 of the control word of the drive via EtherCAT – P0684.
✓ Transition 9: the Disable voltage command has been received. During the drive operation it is disabled, blocking
the supply to the motor. It corresponds to reset the bit 1 of the control word of the drive via EtherCAT – P0684.
✓ Transition 10: the Quick stop or Disable voltage commands have been received. The state transition is
performed, but no action is taken by the drive.
✓ Transition 11: the Quick stop command has been received. The drive performs the stopping via ramp function.
It corresponds to activate the bit 6 of the control word of the drive via EtherCAT – P0684.
✓ Transition 12: the Disable voltage command has been received. The drive is disabled. It corresponds to reset
the bit 1 of the control word of the drive via EtherCAT – P0684.
✓ Transition 13: a fault is detected and the drive is disabled.
✓ Transition 14: after disabling the drive, it goes to the fault state (automatic).
✓ Transition 15: the Fault reset command has been received. The drive performs the fault reset and returns to the
disabled and without fault state.Equivale a ativar o bit 7 da palavra de controle via EtherCAT – P0684.
✓ Transition 16: the Enable operation command has been received. The drive performs the start via ramp function.
It corresponds to activate the bit 0 of the control word of the drive via EtherCAT – P0684.
This state machine is controlled by the object 6040h, and the other states can be monitored by the object 6041h.
Both objects are described next.
8.1.1 Object 6040h – Controlword
It controls the drive state. The bits of this word have the following functions:
Bit
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Function
Reserved
Halt
Fault reset
Operation
mode specific
Enable operation
Quick stop
Enable voltage
Switch on
The bits 0, 1, 2, 3 and 7 allow controlling the drive state machine. The commands for state transitions are given by
means of the bit combinations indicated in the table 8.2. The bits marked with “x” are irrelevant for the command
execution.
Table 8.2: Control word commands
Control word bits
Command Fault reset Enable
operation
Quick stop Enable
voltage
Switch on Transitios
Shutdown 0 × 1 1 0 2, 6, 8
Switch on 0 0 1 1 1 3
Disable voltage 0 × × 0 × 7, 9, 10, 12
Quick stop 0 × 0 1 × 7, 10, 11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4, 16
Fault reset 0 → 1 × × × × 15
The bits 4, 5, 6 and 8 have different functions according to the used operation mode. The detailed description of the
functions of these bits for the velocity mode is presented on the section 8.3. The bits 11, 12, 13, 14 e 15 are reserved
for manufacturer specific use. For the CFW11 frequency inverter bit 11 selects the operation mode for Local (0) or
remoto (1).
CFW11 | 29
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