ABB ACS280 Firmware Manual page 385

Fieldbus control through the embedded fieldbus interface (EFB)
Command/Event
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.
Mode Description
Profile velocity Dynamic limiter ramp
Profile torque Sets the torque reference to 0. Ramp depends on the
drive parameters
Velocity Halt mode1: Ramp input is set to 0.
Halt mode 2,3,4: Ramp output is set to 0.
Other modes Halt bit has no effect.
Status Word for the CiA 402 profile
Status word of the CiA 402 profile can be read from the object 6041h.The table
below shows the fieldbus Status Word for the CiA 402 control profile. The
embedded fieldbus interface converts the drive Status Word into this form for
the fieldbus.
Bit Name
0 Ready to switch on
1 Switched on
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning
8 Drive-specific bit
9 Remote
10 Target reached
11 Internal limit active
12...13 Operation mode specific
14...15 Drive specific
Drive stop mode
Fault reaction specified by the drive. Typically a Coast stop.
385
Halt option codes
1
1
1, 2, 3, 4
N/A