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CANopen Mode

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ASDA-A3

12

Bit

Bit 12 - Bit 13

Bit 14

Bit 15

Status

-

-

Positive limit

Negative limit

Positive limit

Negative limit

Description

These bits are individually

defined according to the

operation mode, as shown in

the following table.

-

-

Bit 0 - Bit 6: current status of the servo drive.

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Description

0

-

-

0

0

0

0 Not ready to switch on.

1

-

-

0

0

0

0 Switch on disabled.

0

1

-

0

0

0

1 Ready to switch on.

0

1

-

0

0

1

1 Switched on.

0

1

-

0

1

1

1 Operation enabled (Servo On).

0

0

-

0

1

1

1 Quick stop active.

0

-

-

1

1

1

1 Fault reaction active.

0

-

-

1

0

0

0 Servo fault (servo switches to Servo Off).

Note: 0 indicates the bit is off, 1 indicates the bit is on, and - indicates the bit is invalid.

Bit 12 - Bit 13: current status of the servo drive.

Definition in each operation mode

Bit

Profile Position

mode

Homing mode

Interpolated Profile Velocity Profile Torque

Position mode

mode

mode

Set-point

Bit 12

acknowledge

(servo received the

Homing is

complete

Interpolation

in operation

Zero speed

-

command signal)

Bit 13 Following error Homing error

-

-

-

Note: - indicates the bit is invalid.

Object 605Bh: Shutdown option code

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

605Bh

Shutdown option code

VAR

INTEGER16

RW

Yes

INTEGER16

0

Object function:

Set to 0: when Servo Off, the dynamic brake has no effect, so the motor runs freely and the

machine stops only by friction.

Set to -1: when Servo Off, the servo stops with the operation of the dynamic brake.

Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled.

12-58

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