Difference between revisions of "EtherCAT:Drive Control Bits"
| Line 20: | Line 20: | ||
| 0 | | 0 | ||
| 6 | | 6 | ||
| − | | Ready to | + | | Ready to Switch On |
|} | |} | ||
== Query of DriveOn == | == Query of DriveOn == | ||
| Line 34: | Line 34: | ||
| 1 | | 1 | ||
| 3 | | 3 | ||
| + | | Switched On | ||
| xxxx xxxx x01x 0011b | | xxxx xxxx x01x 0011b | ||
|- | |- | ||
| 0 | | 0 | ||
| 6 | | 6 | ||
| + | | Ready to switchOn | ||
| xxxx xxxx x01x 0001b | | xxxx xxxx x01x 0001b | ||
| + | |} | ||
| + | |||
| + | |||
| + | == Write to DriveEnable == | ||
| + | Writing to DriveEnable affects bits 0,1,2 and 3 of Control Word - object 0x6040 mapped to TX_PDO <n/> | ||
| + | |||
| + | {| class="wikitable" border="1" | ||
| + | |- | ||
| + | ! Value | ||
| + | ! DS402 state number | ||
| + | ! DS402 state | ||
| + | |- | ||
| + | | 1 | ||
| + | | 4 | ||
| + | | Operation Enabled | ||
| + | |- | ||
| + | | 0 | ||
| + | | 5 | ||
| + | | Switched On | ||
| + | |} | ||
| + | == Query of DriveEnable == | ||
| + | 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 | ||
| + | | Operation Enabled | ||
| + | | xxxx xxxx x01x 0111b | ||
| + | |- | ||
| + | | 0 | ||
| + | | 6 | ||
| + | | Switched On | ||
| + | | xxxx xxxx x01x 0011b | ||
|} | |} | ||
Revision as of 15:16, 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
Write to DriveOn
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 Switch On |
Query of DriveOn
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 | Switched On | xxxx xxxx x01x 0011b |
| 0 | 6 | Ready to switchOn | xxxx xxxx x01x 0001b |
Write to DriveEnable
Writing to DriveEnable affects bits 0,1,2 and 3 of Control Word - object 0x6040 mapped to TX_PDO <n/>
| Value | DS402 state number | DS402 state |
|---|---|---|
| 1 | 4 | Operation Enabled |
| 0 | 5 | Switched On |
Query of DriveEnable
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 | Operation Enabled | xxxx xxxx x01x 0111b |
| 0 | 6 | Switched On | xxxx xxxx x01x 0011b |