Difference between revisions of "EtherCAT:Drive Control Bits"

Revision as of 15:11, 24 October 2013

{{Category |description=Drive Control Bits. |frontpage=Axystems:EtherCAT

This section explains of DS402 implementation of Axis.DriveOn, Axis.DriveEnable and Axis.HaltRestart with EtherCAT and CANOpen

Writing to DriveOn affects bits 0,1,2 and 3 of Control Word - object 0x6040 mapped to TX_PDO <n/>

Value	DS402 state number	DS402 state
1	3	Switched On
0	6	Ready to switchOn

Reflects state of bits 0,1,2,3,5 and 6 of Status Word - object 0x6041 mapped to RX_PDO <n/>

Value	DS402 state number	DS402 state	Bit combination
1	3	xxxx xxxx x01x 0011b
0	6	xxxx xxxx x01x 0001b

@@ Line 5: / Line 5: @@
 This section explains of DS402 implementation of '''Axis.DriveOn''', '''Axis.DriveEnable''' and '''Axis.HaltRestart''' with EtherCAT and CANOpen
-== Write operation to DriveOn ==
+== Write to DriveOn ==
+Writing to DriveOn affects bits 0,1,2 and 3 of Control Word - object 0x6040 mapped to TX_PDO <n/>
 {| class="wikitable" border="1"
@@ Line 21: / Line 22: @@
 | Ready to switchOn
 |}
+== Query of DriveOn ==
+Reflects state of bits 0,1,2,3,5 and 6 of Status Word - object 0x6041 mapped to RX_PDO <n/>
+{| class="wikitable" border="1"
+|-
+! Value
+! DS402 state number
+! DS402 state
+! Bit combination
+|-
+| 1
+| 3
+| xxxx xxxx x01x 0011b
+|-
+| 0
+| 6
+| xxxx xxxx x01x 0001b
+|}
 [[Category:Axystems:EtherCAT]]
 [[Category:Control:Online]]