EtherCAT:Drive Control Bits
{{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 |