Common Profile Features - Control Techniques Nidec SI-EtherCAT User Manual

7.3

Common profile features

7.3.1 Sequencing control
These are the supported objects used to control the drive:
Table 7-6 Sequencing control supported objects
Index
6040 Controlword
6041 Statusword
605B shutdown_option_code
605C disable_operation_option_code
605A quick_stop_option_code
605D halt_option_code
605E fault_reaction_option_code
6007 abort_connection_option_code
6060 modes_of_operation
6061 modes_of_operation_display
6080 max_motor_speed
6084 profile_deceleration
6085 quick_stop_deceleration
6502 supported_drive_modes
The behaviour of the sequencing control is shown in Figure 7-1 on page 61. This state machine
indicates how the drive will be controlled. Status word is abbreviated to "SW" in the diagram.
The initial state of the CiA402 state machine is "NOT READY TO SWITCH ON". The module must
be in the EtherCAT operational state before any further state transitions can happen. If the module
goes back to pre-operational state when the CiA402 state machine is in the "SWITCH ON
DISABLED", "READY TO SWITCH ON", "SWITCHED ON", "OPERATION ENABLE" or "QUICK
STOP ACTIVE" states, the option will transition to the "NOT READY TO SWITCH ON" state.
This implies that the drive will stop according to the configured stopping method and the drive will
be inhibited after the motor has stopped.
In the state "QUICK STOP ACTIVE", the currently selected mode of operation indicates how a
quick stop should be handled. When the drive is stopped (using the ramp defined in 0x605A
Quick_Stop_Option_Code object), and the Quick stop option code doesn't indicate that the state
should remain at "QUICK STOP ACTIVE", the state will move to "SWITCH ON DISABLED".
If one of the drive limit switches becomes active, the drive will be slowed down with the ramp
specified by the quick stop option code.
The "internal limit active" bit (11) of the status word will be updated in states "OPERATION
ENABLED" and "QUICK STOP ACTIVE". It will be set as soon as the hardware/software limit
becomes active, and it will be cleared as soon as the limit becomes inactive. This bit is supported
in cyclic sync position mode, cyclic sync velocity mode, interpolation position mode and homing
mode.
The default value in mode_of_operation will be 2 (i.e. velocity mode) on an Open loop drive or
mode, and it will be 8 (Cyclic Sync Position mode) with RFC-A or RFC-S (and on any drive and
mode combination that can support position control). It can be changed at any time as long as the
motor is at zero speed. If the mode of operation is correct and any associated data is correct, the
change will occur and the new operation mode will be reflected in the mode_of_operation_display
object. If the mode is invalid, or data is incorrect, the mode of operation will not be changed.
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