Difference between revisions of "EtherCAT:Drive Control Bits"
| Line 82: | Line 82: | ||
|} | |} | ||
| + | == Write to HaltRestart == | ||
| + | Writing to HaltRestartaffects 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 | ||
| + | | 16 | ||
| + | | Operation Enabled | ||
| + | |- | ||
| + | | 0 | ||
| + | | 11 | ||
| + | | Quick Stop | ||
| + | |} | ||
| + | == Query of HaltRestart== | ||
| + | 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 | ||
| + | | Quick Stop Active | ||
| + | | xxxx xxxx x00x 0111b | ||
| + | |} | ||
[[Category:Axystems:EtherCAT]] | [[Category:Axystems:EtherCAT]] | ||
[[Category:Control:Online]] | [[Category:Control:Online]] | ||
Revision as of 15:20, 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
Contents
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 |
Write to HaltRestart
Writing to HaltRestartaffects bits 0,1,2 and 3 of Control Word - object 0x6040 mapped to TX_PDO <n/>
| Value | DS402 state number | DS402 state |
|---|---|---|
| 1 | 16 | Operation Enabled |
| 0 | 11 | Quick Stop |
Query of HaltRestart
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 | Quick Stop Active | xxxx xxxx x00x 0111b |