Download Software Manual - Phase Motion Control

9
10
11
Disable Voltage
Disable Voltage or Quick Stop
Quick Stop
Drive functions and power uotput disabled; motor shaft free
Drive functions and power uotput disabled; motor shaft free
The quick stop function is executed, (see object 605Ah.0h)
12
Quick Stop executed or
Disable Voltage
Drive functions and power uotput disabled; motor shaft free
13
14
Drive Fault
Fault reaction completed
15
Fault reset
16
Enable Operation
Drive functions and power uotput disabled; motor shaft free
Drive functions and power uotput disabled; motor shaft free
Reset of the fault condition; a system reset is necessary to
make again the drive in the “Switch On Disabled” state.
The bit Fault Reset in the command word has to be cleared by
the host
The drive functions are enabled; the transition is possible
according to the object 605Ah.0h
Tabella 6.2: State transition
The drive functions depend from the selected mode of operation (object 6060h.0h), that could be checked
reading the mode of operation display (object 6061h.0h); this selection also modifies the behaviour of some
bits of the controlword and the statusword. The specific drive function is executed only when the drive status
is Operation Enabled.
6.2.1
DSP 402 object
Object
Type
Attributes
6040h.0h
6041h.0h
605Ah.0h
6060h.0h
6061h.0h
Æ Controlword
Æ Statusword
Æ Quick stop option code
Æ Mode of operation
Æ Mode of operation display
Unsigned16
Unsigned16
Integer16
Integer8
Integer8
RW
RO
RW
WO
RO
6085h.0h
Æ Quick stop deceleration
Unsigned32
RW
603Fh.0h
Æ Error code
Unsigned16
RO
Tabella 6.3: Device Control related objects
6040h.0h: controlword
The controlword contains the bits for controlling the state machine and for controlling the specific operating
mode.
15
11
10
9
8
7
6
5
4
3
2
Manufacturer
specific
Reserved
Halt
Fault
reset
Operation
mode specific
Enable
operation
Quick
stop
O
O
O
M
O
M
M
Tabella 6.4: Structure of controlword
O Æ Optional
M Æ Mandatory
NOTE: the bit number 7 “Fault reset” execute an hardware reset of the drive.
55
1
0
Enable Switch
voltage
on
M
M