Delta ASDA-A3 Series User Manual page 1102

ASDA-A3
The state transition is defined as follows:
Transition
0, 1
2
3
4
5
6
7
8
9
10
11
12
13, 14
15
16
State transition can be achieved with the Controlword (OD 6040h).
The commands are as follows:
Command
Shutdown
Switch on
Switch on +
Enable operation
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset
Event
Automatic transition after power-on
Shutdown command
Switch on command
Enable operation command
Disable operation command
Shutdown command
Disable voltage or quick stop command
Shutdown command
Disable voltage command
Disable voltage or quick stop command
Quick stop command
The following two errors belong to this
quick stop type:
Positive / negative limit switch
1.
triggered
Quick stop triggered by the
2.
Controlword (OD 6040h [Bit 2] = 0)
Disable voltage command
(OD 6040h = 0000 0110 or
OD 6040h [Bit 1] = 0)
Alarm occurs
Fault reset
Enable operation command; no alarm
Bit of OD 6040h
Bit 7 Bit 3
0 X
0 0
0 1
0 X
0 X
0 0
0 1
X
Device boot and initialization
N/A
Servo is ready for Servo On
Servo switches to Servo On and
enters the mode in which the
controller is allowed to issue a
motion command
Servo switches to Servo Off
N/A
N/A
Servo switches to Servo Off
Servo switches to Servo Off
N/A
Quick stop function is enabled.
The time setting for deceleration
to a stop is different for the two
errors.
1. OD 2503h (P5.003)
2. OD 6085h
Servo switches to Servo Off
Servo switches to Servo Off
N/A
Motion operation restart.
The restart action is
mode-dependent.
Bit 2 Bit 1 Bit 0
1 1 0
1 1 1
1 1 1
X 0 X
0 1 X
1 1 1
1 1 1
X X X
EtherCAT Mode
Action
Transition
2, 6, 8
3
3 + 4
7, 9, 10, 12
7, 10, 11
5
4, 16
15
13
13-57