Festo CiA 402 Manual page 91

5 Device Control
EXAMPLE
After the motor controller has been parametrised, the motor controller should be "enabled", that is,
the output stage switched on:
1. The motor controller is in the status SWITCH_ON_DISABLED
2. The motor controller should be in the status OPERATION_ENABLED
3. According to the status diagram (Fig. 5.1) the transitions 2, 3 and 4 must be executed.
4. From Tab. 5.2 follows:
Transition 2: Controlword = 0006h
New status: READY_TO_SWITCH_ON
Transition 3: Controlword = 0007h
New status: SWITCHED_ON
Transition 4: Controlword = 000Fh
New status: OPERATION_ENABLED
Instructions:
1. The example assumes that no further bits are set in the controlword (for the transitions, only the
bits 0 ... 3 are important).
2. The transitions 3 and 4 can be combined by immediately setting the controlword to 000F
the status transition 2, the set bit 3 is not relevant.
1) The Host must wait until the status in the statusword can be read back. This is explained in detail below.
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
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