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EtherCAT Mode

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ASDA-A3

13

Bit

Bit 4 - Bit 6

Bit 7

Bit 8

Bit 9 - Bit 15

Function

Defined in each operation mode

Fault reset

Halt

Reserved

Description

These bits are individually defined

according to the operation mode,

as shown in the following table.

-

-

-

Bits 4 - 6 are individually defined according to the operation mode, as shown in the following

table:

Bit

Bit 4

Bit 5

Bit 6

Definition in each operation mode

Profile Position mode

Homing mode

Profile Velocity mode

Profile Torque mode

Interpolated Position mode

Cyclic Synchronous Position mode

Cyclic Synchronous Velocity mode

Cyclic Synchronous Torque mode

Command triggering

(rising-edge triggered)

Homing

(rising-edge triggered)

-

Function for the command to

take immediate effect

-

-

0: absolute position command

1: relative position command

-

-

Note: - indicates the bit is invalid.

Finite state machine (as shown in the following diagram) defines the behavior of a servo

drive system. Each state represents an internal or external behavior. For example, the servo

drive can execute point-to-point motion only in the Operation enabled state.

Start

0, 1

Switch On

disabled

27

Ready to

10

switch on

12

36

16

Quick Stop

11

Switch on

4

5

Operation

enabled

15

Fault

9

8

13, 14

13-56

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