
6 Operation | IL•1F CANopen DS301 |
6.3.1Switching the power stage on and off
The power stage is enabled by the transition from operating state 4 to 6
. For this purpose, the two bits Enable and Disable are available in the R_PDO4. One of them must be "1", the other "0".
Enabling the power stage Prerequisite: the product in in operating state 4.
To enable the power stage, a "0
Example
| Master < | |
Disable is requested | drivectrl01h | |
Slave signals operating | driveStat XXX4h | |
state 4 |
|
|
|
|
|
Request Enable | drivectrl02h | |
Slave signals operating | driveStat XXX5h | |
state 5 |
|
|
|
|
|
Slave signals operating | driveStat XXX6h | |
state 6 |
|
|
|
|
|
Disabling the power stage Prerequisite: Product is in operating state 6 or 7.
To disable the power stage, a "0
Example
| Master < | |
Enable is requested | drivectrl 02h | |
Slave signals operating | driveStat XXX6h | |
state 6 |
|
|
|
|
|
Request disable | drivectrl 01h | |
Slave signals operating | driveStat XXX4h | |
state 4 |
|
|
|
|
|
6.3.2Triggering a "Quick Stop"
A running motion command can be interrupted via the fieldbus at any time with the Quick Stop command. The stop is triggered by a "0
In order to start a new motion command, you must first set the product to operating state 6 . To achieve this, do one of the following:
•Fault Reset"0
•Quick Stop release"0
0198441113586, V2.01, 11.2008
64 | Fieldbus interface |