ABB FCAN-01 User Manual page 97

The following stop modes are associated with the control
commands and other events:
Command/Event
Quick stop
Shut down
Disable voltage
Halt
Fault
The halt mode is controlled with bit 8 of the CiA 402 control word.
When the halt bit is set during the OPERATION ENABLED state,
the drive stops and the state machine remains in the OPERATION
ENABLED state. When the bit is reset, the drive starts running
again. In all modes supporting the halt function, CiA 402 Status
Word bit 10 (target reached) is set when the drive is stopped.
Note: The drive may not necessarily stop completely as it is still
the in running (OPERATION ENABLED) state.
The following table summarizes the drive features used to perform
the ramp stop during the halt function, as well as the different halt
option codes supported by each CiA 402 operating mode. The halt
option code is selected by CANopen object 605Dh.
Drive stop mode
Emergency stop
Coast stop
Coast stop
Ramp stop (configurable with CANopen object
605Dh)
Fault reaction specified by the drive. Typically a
coast stop.
Communication profiles 97