Control Techniques Nidec SI-EtherCAT User Manual page 65

Table 7-14 Disable_operation_option_code values
Value
0
1
7.3.5 0x605D Halt_option_code
This object shall indicate what action is performed when the halt function is executed.
Table 7-15 Halt_reaction_option_code
0x605D Halt_option_code
Access: RW
Default: 0
PDO Mappable: No
Motion Profiles: IP, VL, HM, PP
This object is used to control what action is performed if a Halt is called. Halt only applies to
Description:
some motion profiles as he Halt bit in the control word is profile specific.
Table 7-16 Fault_reaction_option_code values
Value
0
1
2
The Ramp rate used can be over-ridden by setting the EtherCAT comms parameter
NOTE
S.03.010 to "Controlled Stop". When set to "Controlled Stop" the ramp profile used is
that defined by Pr 02.028 "Deceleration Rate 8" and the ramp will have been initiated by
clearing the Run bit in Pr 06.042. This is different to the default stopping mechanism
which is profile specific.
The speed of reaction to a Halt command depends on several factors:
• The profile Mode. Currently only Homing has a very fast reaction, in other profile modes it is the
time to perform one background loop of the CiA402 state machine (40 ms)
• If Controlled Stop is enabled the reaction time is up to 2 ms (update rate of Pr 06.042).
7.3.6 0x605E Fault_reaction_option_code
This object is used to control what action is performed when a fault is detected (PDO loss).
This object is ignored if the drive is tripped.
Table 7-17 Fault_reaction_option_code
0x605E Fault_reaction_option_code
Access: RW
Default: 2
PDO Mappable: No
Motion Profiles: ALL
Description: This object is used to control what action is performed when a fault is detected.
SI-EtherCAT User Guide
Definition
Disable drive function (switch off the drive power stage)
Slow down with slow down ramp; disable the drive function
Range: 0 to 2
Reserved (no action)
Slow down with slow down ramp; stay in Operation enabled
Slow down with quick stop ramp; stay in Operation enabled
Range: 0 to 2
Size: 2 bytes
Type: Signed integer / INT
Update Rate: When applying Halt Stop
Definition
Size: 2 bytes
Type: Signed integer / INT
Update Rate: When applying Fault reaction
Unit: N/A
Unit: N/A
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