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CiA402 profile
22
Control word (CMD)
x: Value is of no significance for this command.
0 V 1: Command on rising edge
bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0
Fault reset
Reserved (=
0)
Reserved (=
0)
Reserved (=
0)
Enable operation
Quick stop Enable voltage
Switch on
Ack. fault
Run command
Emergency
stop
Authorization
to supply AC
power
Contactor
control
bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8
Assignable Assignable Assignable Assignable
By default,
direction of
rotation
command.
Reserved (= 0) Reserved (= 0)
Halt
Halt
Command
Transition
address
Final state
bit 7 bit 3 bit 2 bit 1 bit 0
Example value
Fault
reset
Enable
operation
Quick
stop
Enable
voltage
Switch on
Shutdown 2, 6, 8
3 - Ready to
switch on
x x 1 1 0 16#0006
Switch on 3 4 - Switched on x x 1 1 1 16#0007
Enable
operation
4
5 - Operation
enabled
x 1 1 1 1 16#000F
Disable
operation
5 4 - Switched on x 0 1 1 1 16#0007
Disable voltage 7, 9, 10, 12
2 - Switch on
disabled
x x x 0 x 16#0000
Quick stop
11
6 - Quick stop
active
x x 0 1 x 16#0002
7, 10
2 - Switch on
disabled
Fault reset 15
2 - Switch on
disabled
0 V 1 x x x x 16#0080