# Slot 3 Menu 3 − CiA402 Motion Profile

Mode: Regeneration

Parameter | 3.03.002 CiA402 Homed Status
--- | ---
Short description | CiA402 Homing has been performed
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC

A Status indicator. When "On" indicates that a successful CiA402 Homing has been performed and there has been no errors since that time. The Status only refers to the CiA402 motion profiles used by EtherCAT. On a feedback error where known position is lost, the status will be set to "Off".

Parameter | 3.03.003 Stop On Digital Input Count
--- | ---
Short description | Stop On Digital Input Count
Minimum | 0 | Maximum | 4294967295
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, BU

A count of number of times Controlled Stop on Digital Input has occurred whilst under the control of CiA402 motion profiles. This feature is only supported if Motion Stop Behaviour parameter is set to Controlled Stop.

Parameter | 3.03.010 Motion Stop behaviour
--- | ---
Short description | Motion Stop behaviour
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit Volatile | Update Rate | Read when motion profiles started
Display Format | Standard | Decimal Places | 0
Coding | RW, TE, NC, PT

Value | Text | Description
0 | Default | All Stops are governed by CiA402 Option Codes
1 | Controlled Stop | All Stops use the same ramp in menu 2

When set to "Controlled Stop", Drive operation will now always require 06.38 to be true for CIA402 motion to be possible, this can be mapped to a digital input to provide a local signal to cause a stop. All CiA402 state transitions will use the same Stopping Ramp. Any change to 06.038 will cause a controlled stop and then require to be true to allow motion again.

The slope of the controlled stop ramp can be configured in the drive parameter 02.028.