CANopen over EtherCAT (CoE) carries the CiA-402 device profile onto the EtherCAT network. CiA-402 defines a common language for controlling a drive — where to find a parameter, how to enable the drive, how to reset faults, what the state machine looks like. Compliance with the profile makes drives from different vendors interchangeable: the basic data sits at the same addresses. Below is a working summary.
| Command | Value | Result |
|---|---|---|
| Shutdown | 0x06 | switch-on-disabled → ready-to-switch-on |
| Switch On | 0x07 | → switched-on (power stage energized) |
| Enable Operation | 0x0F | → operation-enabled (torque held) — "Servo ON" |
| Disable Voltage | 0x00 | → switch-on-disabled (coast to stop) — "Servo OFF" |
| Disable Operation | 0x07 | operation-enabled → switched-on (smooth) |
| Quick Stop | 0x02 | → quick-stop-active (emergency stop) |
| Halt | bit 8 = 1 | stop motion, hold position |
| Fault Reset | 0x80 (rising edge 0→1) | clears fault |
| Bit | Flag | Meaning |
|---|---|---|
| bit 0 | Ready to switch on | ready to switch on |
| bit 1 | Switched on | switched on |
| bit 2 | Operation enabled | torque held, motion available |
| bit 3 | Fault | fault |
| bit 5 | Quick stop | quick stop active (inverse logic) |
| bit 6 | Switch on disabled | switch-on prohibited |
| bit 7 | Warning | warning |
| bit 10 | Target reached | target reached |
| bit 12 | In position / setpoint ack | depends on mode |
The drive moves through a chain of states; transitions are triggered by Controlword commands.
After power-up. Waiting for Shutdown.
Ready for the power stage to be energized.
Power stage energized, no torque yet.
Torque held, the drive executes the mode. Working state.
Emergency stop or fault. Exit via Fault Reset (0x80).
| Code | Mode | Full name | Purpose |
|---|---|---|---|
| 8 | CSP | Cyclic Synchronous Position | the working mode for CNC — cyclic synchronous position |
| 9 | CSV | Cyclic Synchronous Velocity | cyclic synchronous velocity |
| 10 | CST | Cyclic Synchronous Torque | cyclic synchronous torque |
| 1 | PP | Profile Position | profile-based positioning |
| 3 | PV | Profile Velocity | profile-based velocity |
| 6 | HM | Homing | homing |
| Index | Object | Purpose |
|---|---|---|
| 0x6040 | Controlword | state control commands |
| 0x6041 | Statusword | current drive state |
| 0x6060 / 0x6061 | Modes of operation / display | set / read the mode |
| 0x607A | Target position | target position (PP/CSP) |
| 0x60FF | Target velocity | target velocity (PV/CSV) |
| 0x6071 | Target torque | target torque (CST) |
| 0x6064 | Position actual value | actual position |
| 0x606C | Velocity actual value | actual velocity |
| 0x6077 | Torque actual value | actual torque |
| 0x60F4 | Following error actual | following error |
| 0x6098 / 0x6099 | Homing method / speeds | homing method and speeds |
| 0x605A | Quick stop option code | reaction to Quick Stop |
| 0x603F | Error code | current error code |
Values are given for reference. Vendor-specific objects and units are in the drive catalog.
