Emerson SI-EtherCAT User Manual page 49

Table 7-13 Disable_operation_option_code values
Value
0
1
7.3.5 0x605E Fault_reaction_option_code
This object is used to control what action is performed when a fault is detected (PDO loss). This
object is ignored if the drive is tripped.
Table 7-14 Fault_reaction_option_code
0x605E Fault_reaction_option_code
Sub-index 0
Access: RW
Default: N/A
Description: This object is used to control what action is performed when a fault is detected.
Table 7-15 Fault_reaction_option_code values
Value
0
1
2
7.3.6 0x6060 Modes_of_operation
This object is used to request a change in the mode of operation.
Table 7-16 Modes_of_operation
0x6060 Modes_of_operation
Sub-index 0
Access: RW
Default: 2
Description: This object is used to request a change in the mode of operation.
The default for this object is dependent on the drive operating mode. In Open-loop the
NOTE
default is 2. In RFC-s the default is 8.
Table 7-17 Modes_of_operation values
Value
0
2
6
7
8
9
10
SI-EtherCAT User Guide
Issue Number: 2
Disable drive function (switch off the drive power stage)
Slow down with slow down ramp; disable the drive function
Range: 0 to 2
Disable drive function, motor is free to rotate
Slow down on slow down ramp
Slow down on quick stop ramp
Range: 0 to 8
No mode change
vl velocity mode
Homing mode
Interpolated Position mode
Cyclic Sync Position mode
Cyclic Sync Velocity mode
Cyclic Sync Torque mode
Definition
Size: Unsigned 16
Type: UINT
Definition
Size: Unsigned 8
Type: USINT
Definition
Unit: N/A
Unit: N/A
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