CiA402 profile
Control word (CMD)
bit 7 | bit 6 | bit 5 | bit 4 |
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Fault reset |
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| Reserved (= | Reserved (= | Reserved (= |
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Ack. fault | 0) | 0) | 0) |
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bit 15 | bit 14 | bit 13 | bit 12 |
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Assignable | Assignable | Assignable | Assignable |
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bit 3 | bit 2 | bit 1 | bit 0 | |
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Enable operation | Quick stop | Enable voltage | Switch on | |
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| Emergency | Authorization | Contactor | |
Run command | to supply AC | |||
stop | control | |||
| power | |||
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bit 11 | bit 10 | bit 9 | bit 8 | |
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By default, |
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| Halt | |
direction of |
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Reserved (= 0) | Reserved (= 0) |
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rotation | Halt | |||
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command. |
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| Transition |
| bit 7 | bit 3 | bit 2 | bit 1 | bit 0 |
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Command | Final state |
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| Example value | ||
Fault | Enable | Quick | Enable |
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address | Switch on | |||||||||
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| reset | operation | stop | voltage |
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Shutdown | 2, 6, 8 | 3 - Ready to |
| x | x | 1 | 1 | 0 | 16#0006 | |
switch on |
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Switch on | 3 | 4 - Switched on |
| x | x | 1 | 1 | 1 | 16#0007 | |
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Enable | 4 | 5 - Operation |
| x | 1 | 1 | 1 | 1 | 16#000F | |
operation | enabled |
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Disable | 5 | 4 - Switched on |
| x | 0 | 1 | 1 | 1 | 16#0007 | |
operation |
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Disable voltage | 7, 9, 10, 12 | 2 - Switch on |
| x | x | x | 0 | x | 16#0000 | |
disabled |
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| 11 | 6 - Quick stop |
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| active |
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Quick stop |
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7, 10 | 2 - Switch on |
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| disabled |
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Fault reset | 15 | 2 - Switch on | 0 | V 1 | x | x | x | x | 16#0080 | |
disabled | ||||||||||
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x:Value is of no significance for this command.
0 V 1: Command on rising edge
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