Control Techniques Nidec SI-EtherCAT User Manual page 145

9.4.4 Menu 3 (CiA402 Motion Profiles)
This menu provides information on CiA402 motion profiles
Table 9-54 CiA402 Home status
S.03.002
Minimum
Default
Type
Display Format
Coding
A Status indicator. When "On" indicates that a successful CiA402 Homing has been performed and
there has been no errors since that time. The Status only refers to the CiA402 motion profiles used
by EtherCAT. On a feedback error where known position is lost, the status will be set to "Off".
Table 9-55 Stop on Digital Input Count
S.03.003
Minimum
Default
Type
Display Format
Coding
A Count of number of times Controlled Stop on Digital Input has occurred whilst under the control of
CiA402 motion profiles. This feature is only supported if Motion Stop Behaviour parameter is set to
Controlled Stop.
Table 9-56 Motion Stop Behaviour
S.03.010
Minimum
Default
Type
Display Format
Coding
Value Text
0 Default
1 Controlled Stop
When set to "Controlled Stop", Drive operation will now always require 06.038 to be true for CiA402
motion to be possible, this can be mapped to a digital input to provide a local signal to cause a stop.
All CiA402 state transitions will use the same Stopping Ramp. Any change to 06.038 will cause a
controlled stop and then require to be true to allow motion again.
The slope of the controlled stop ramp can be configured in the drive parameter 02.028.
SI-EtherCAT User Guide
CiA402 Home status
0
0
1 bit volatile
Standard
RO, ND, NC, BU
Stop on Digital Input Count
0
0
32 bit volatile
Standard
RO, ND, NC, BU
Motion Stop Behaviour
0
0
8 bit volatile
Standard
RW, TW, NC, PT
Maximum
Units
Update Rate
Decimal Places
Maximum
Units
Update Rate
Decimal Places
Maximum
Units
Update Rate
Decimal Places
Description
All Stops are governed by CiA402 Option Codes
All Stops use the same ramp in menu 2
1
Background
0
32
2 -1
Background
0
1
Background
0
145