Delta CT2000 Series User Manual page 416

Fault Reaction Active: The motor drive detects conditions which might trigger error(s).
Fault: One or more than errors has occurred to the motor drive.
Therefore, when the motor drive is turned on and finishes the initiation, it will remain at Ready to
Switch on status. To control the operation of the motor drive, you need to change this status to
Operate Enable status. The way to change it is to commend the control word's bit0 ~ bit3 and
bit7 of the Index 6040H and to pair with Index Status Word (Status Word 0X6041). The control
steps and index definition are described as below:
Index 6040
15~9 8
Reserved Halt
Index 6041
15~14 13~12 11
Internal
Reserved Operation limit
active
Power
Disable
0XXXXX0X
0XXXX110
Disable QStop=1
0XXXX111
0XXX1111
0XXXX110
Set command 6040 =0xE, then set another command 6040 =0xF. Then the motor drive can be
switched to Operation Enable. The Index 605A decides the dashed line of Operation Enable when
7 6~4
Fault Reset Operation
10 9 8
Target
Remote Reserved Warning
reached
Start
Not Ready to Switch On
X0XX0000
Switch On Disable
X1XX0000
0XXXXX0X
or
and
0XXXX01X
or
Disable QStop=0
Ready to Switch On
X01X0001
0XXXX110
Switch On
X01X0011
0XXXX111
Operation Enable
X01X0111
Chapter 15 CANopen Overview CT2000 Series
3
Enable
Quick Stop
operation
7 6 5 4
Switch on Quick Voltage
disabled stop enabled
Fault Reaction Active
0XXXXX0X
or
0XXXX01X
or
Disable QStop=0
0XXXX01X
or
Disable QStop=0
Quick Stop Active
0XXXX01X
and
Disable QStop=1
15-9
2 1
Enable
Switch On
Voltage
3 2 1
Operation
Fault Switch on
enable
X0XX1111
Fault
X0XX1000
XXXXXXX
Fault
Power
Enable
0XXXXX0X
or
Fout=0
X00X0111
0
0
Ready to
switch on