Schneider Electric DS301 Switching the power stage on and off, Triggering a Quick Stop, Example

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 -> 1" edge must be generated in drivectrl, bit 1 (Enable). This can be done by deleting bit 0 (Disable) and setting bit 1 . The master then waits until the product signals oper- ating state 6 . This may take a while (approx. 1 second) since various tests are run when the power stage is enabled.

Example

	Master <	---> Slave
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 -> 1" edge must be generated in drivec- trl, bit 0 (Disable). This can be done by setting Bit 0 (Disable) and de- leting bit 1 (Enable). The product switches to operating state 4.

Example

	Master <	---> Slave
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 -> 1" edge in drivectrl, bit 2. After the state transition to operating state 7 (Quick Stop), the product decelerates with the set EMERGENCY STOP ramp and comes to a standstill.

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 -> 1" edge in drivectrl, bit 3

•Quick Stop release"0 -> 1" edge in drivectrl, bit 4

0198441113586, V2.01, 11.2008

64 Fieldbus interface