Cia402 Device Specification; Canopen Over Ethernet (Coe) State Machine - Delta CMC-EC01 Operation Manual

5. CiA402 Device Specification

This chapter describes the motion modes defined by the CiA402 specification under the EtherCAT
communication protocol, including its basic operations and related object settings. The host computer
controls the drive through the control word (controlword, OD 6040h), reads the present drive status by
reading the status word (statusword, OD 6041h), and the drive completes the motor motion behavior
according to the control instructions of the host computer.
5.1

CANopen over Ethernet (CoE) State Machine

NOTE: In the figure above, the string next to the arrow is the control word (controlword),
The state machine is divided into three sections:
Power Disable
Power Enable
Fault
CMC-EC01 Operation Manual
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and the string in the status box is the status word (statusword).
Section
Drive has no PWM output
Drive has PWM output
Error occurred
EtherCAT Option Card CMC-EC01
Description