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CiA402 profile
Fixed assignments are configured by the following values:
Cp11 is assigned by default to the reverse direction command [Reverse assign.] (rrS).
At the terminals:
(1)
If the assignment is fixed, the value necessary for starting, even if another channel is active.
In run on edge command, configured by [3 wire] (3C), the stop command (run enable) is assigned by construction to LI1. This command
is active even if the terminals are not the active channel.
Via the network:
(1)
If the assignment is fixed, the value necessary for starting, even if another channel is active.
In the CiA402 profile, the freewheel stop command [Freewheel stop ass.] (nSt) cannot be assigned to the control word. Freewheel stop is
obtained via the "5-Disable operation" or "Halt" command with the Type of Stop [Type of stop] (Stt) parameter configured to [Freewheel]
(nSt).
In the CiA402 profile, separate or not separate mode:
External stop and fault commands, configured as fixed assignments (LIpp, C1pp, C2pp, C3pp, C4pp), on terminal inputs or control word
bits, have priority even if the channel is not active.
Commands, configured as switched assignments (Cd11 ... Cd15), are active if and only if the channel is active.
Channel
Run on state command
[2 wire] (2C)
Run on edge command
[3 wire] (3C)
Drive terminals LI2 ... LI6 LI3 ... LI6
Logic I/O card LI7 ... LI10
Extended I/O card LI11 ... LI14
Integrated Modbus C111 ... C115
CANopen C211 ... C215
Communication card C311 ... C315
"Controller Inside" card C411 ... C415
Command Configuration = 0 = 1
Value for
starting
(1)
State reached from
5-Operation enabled
Freewheel stop
[Freewheel stop ass.]
(nSt)
Stop No stop 1 2-Switch on disabled
Fast stop [Fast stop assign.] (FSt) Stop No stop 1 4-Switched on
DC injection braking
[DC injection assign.]
(dCI)
No braking Braking 0 5-Operation enabled
External fault [External fault ass.] (EtF) No fault Fault 0 8-Fault
Command Configuration = 0 = 1
Value for
starting
(1)
State reached from
5-Operation enabled
Fast stop [Fast stop assign.] (FSt) No stop Stop 0 4-Switched on
DC injection braking
[DC injection assign.]
(dCI)
No braking Braking 0 5-Operation enabled
External fault [External fault ass.] (EtF) No fault Fault 0 8-Fault