BECKHOFF ET9300 - Manual (Page 64)

62 Application Note ET9300
Index Object name Variable in source code Comment/Description
0x6040 Controlword objControlWord object for the output commands
from the master
0x6041 Status word objStatusWord current axis status
0x605A Quick stop
option code objQuickStopOptionCode predefined ramp if an quick stop
shall be performed
0x605B Shutdown
option code
objShutdownOptionCode
predefined action in state
transition 8
0x605C Disable
operation
option code
objDisableOperationOptionCode
predefined action in state
transition 5
0x605E Fault reaction
option code objFaultReactionCode predefined action in state “Fault
reaction active”
0x6060 Modes of
operation objModesOfOperation requested operation mode
0x6061 Modes of
operation
display objModesOfOperationDisplay current operation mode
0x6064 Position actual
value objPositionActualValue current position value (delivered
by encoder)
0x606C Velocity actual
value objVelocityActualValue velocity feedback
0x6077 Torque actual
value objTorqueActualValue currently not used (only for
completion)
0x607A Target position
objTargetPosition
requested Postion value (set in
csp mode)
0x607D Software
position limit
objSoftwarePositionLimit
includes the minimum and
maximum actual position limit
0x6085 Quick stop
declaration
objQuickStopDeclaration predefined action in state “Quick
stop active”
0x60C2 Interpolation
time period
objInterpolationTimePeriod
0x60FF Target velocity objTargetVelocity target velocity requested by the
master
0x6502 Supported
drive modes objSupportedDriveModes list of all supported operation
modes
The objects from 0x6000 to 0x67FF are incremented with 0x800 for each axis (Index + #Axis*0x800).
10.2 State machine
Figure 23 shows the state machine described in [1] . State changes are requested by setting 0x6040
(Controlword) or by a local event (if an error occurs). If the device is in state OP the transitions 0, 1
and 2 are skipped. The option codes next to the transition lines indicate that a specific action which
shall be performed in of one of these state changes.
All handled state transitions including the required Controlword, resulting state and corresponding
functions are listed in Table 9: State machine. The bits 0,1,2,3 and 7 of the control word are taken into
consideration in this sample implementation. Drive functions e.
g.”Break applied” or “Axis function
enabled” need to be activated or deactivated corresponding to the current state. In this sample these
functions are handled by Boolean variables.