Control Techniques Nidec SI-EtherCAT User Manual page 66

Table 7-18 Fault_reaction_option_code values
Value
0
1
2
Option Code 1 and 2 will also wait for the brake to engage before Switch Off, if drive parameter
12.041 is enabled.
The Ramp rate used can be over-ridden by setting the EtherCAT comms parameter
NOTE
Pr 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.
7.3.7 0x6007 Abort_connection_option_code
Table 7-19 Abort_connection_option_code
0x6007 Abort connection option code
Access: RW
Default: 1
PDO Mappable: TxPDO
Motion Profiles: All
Defines network loss behaviour:
(-3) - Perform Quick stop ramp (0x605A) to a stop and then raise a trip.
(-2) - Disable voltage and raise a trip.
(-1) - Perform Fault reaction (0x605E) and then raise a trip.
Description:
0 - No reaction
1 - Perform Fault reaction (0x605E)
2 - Disable voltage
3 - Perform Quick stop ramp (0x605A) to a stop
If a PDO loss event and a network loss event overlaps, the Network loss event takes
NOTE
precedence.
The network loss error could have already precepted a fault reaction which would take
precedence over this object.
7.3.8 0x6060 Modes_of_operation
This object is used to request a change in the mode of operation.
Table 7-20 Modes_of_operation
0x6060 Modes_of_operation
Access: RW
Default: 2
PDO Mappable: RxPDO
Motion Profiles: ALL
Description: This object is used to request a change in the mode of operation.
66
Disable drive function, motor is free to rotate
Slow down on slow down ramp
Slow down on quick stop ramp
Range: -3 to 3
Range: 0 to 10
Definition
Size: 2 bytes
Type: Integer / INT
Update Rate: When connection failure is detected
Size: 1 byte
Type: Signed Integer / SINT
Update Rate: Every 40 ms
SI-EtherCAT User Guide
Unit: N/A
Unit: N/A