Faults can only be reset using DS402 controlword bit 7. 

The reset can also be done using Telnet or digital input and the DS402 state machine reflects this condition.

The state of the hardware enable does not change the state machine to state Operation enable.

If the state Operation enable or Switched on is active, it falls back to the state Switch on disabled, if the Hardware enable goes to 0.

WorkBench/Telnet cannot software enable the drive when CANopen/EtherCAT are operational.

WorkBench/Telnet can software enable the drive.

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• During commissioning this bit should be set to 1 to avoid influences to DS402 power stage state machine. The fieldbus should not be in operation to avoid influence to test functions of WorkBench.

DS402 - state machine is not influenced if the software enable is taken away using Telnet.

DS402 - state machine is influenced if the software enable is taken away using Telnet.

Scaling is done using special DS402 - objects (independent on units)

Scaling for position, velocity and acceleration objects is done using UNIT parameters.

FBUS.PARAM03 defines the station alias address if not 0. If FBUS.PARAM03 is set to 0, the address will be taken from rotary switches if they are not 0. The EtherCAT master has the ability to use the alias address selected by the drive or issue its own.

The rotary switches define the station alias address if not 0. If the rotary switches are set to 0, the address is taken from FBUS.PARAM03 instead, if it is not 0.

Bit 0 of parameter MT.CNTL (object 35B9 sub 0) can be accessed.

Bit 0 of parameter MT.CNTL (object 35B9 sub 0) is exclusively used for DS402 controlword.

All capture objects (0x20A0-0x20A3, 0x20A6, 0x20A7, 0x60BA to 0x60BD) are scaled as object 0x6063.

All capture objects (0x20A0-0x20A3, 0x20A6, 0x20A7, 0x60BA to 0x60BD) are scaled as object 0x6064.

DS402 - state Switched on means power stage disabled.

DS402 - state Switched on means power stage enabled.

SDO content of object 0x6063 is the same as PDO content.

SDO content of object 0x6063 depends on AKD unit parameters.

State Switched on can be reached without the high-level voltage being active.

State Switched on can only be reached when the high-level voltage is active; otherwise the drive stays in Ready to switch on.

No emergency messages over CANopen are triggered when a drive warning occurs.

Emergency messages over CANopen are triggered when a drive warning occurs.

reserved

Downloaded parameter file is stored automatically to nonvolatile memory.

Downloaded parameter file is not stored automatically to nonvolatile memory.

If a warning occurs which limits a movement of the motor bit 11 in the DS402 statusword is additionally set to bit 7.

Only bit 7 is set when any warning occurs.

The bit 10 of the statusword (target reached) is also set as a reaction to the halt bit (bit 8) of the controlword when the motor velocity is below CS.VTHRESH.

Bit 10 of the statusword is only set when the external setpointSetpoint is the target value that an automatic control system, for example PID controller, will aim to reach value of a movement is reached, e.g., target position in profile position mode.

The hardware enable input decides if the transitions between Switch on disabled and Ready to switch on are taken.