User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-12 C27750-001
7.10 Device Control
The following table lists the parameters that are implemented in the device control section of the device profile.
Index Type Name
0x6040 U16 ds402 Control word
0x6041 U16 ds402 Status word
0x6060 S08 ds402 Modes of Operation
0x6061 S08 ds402 Modes of Operation Display
Table 7.3 Table of drive control related parameters
The state machine as defined in DS402 has been implemented. The state machine is as shown below: -
Figure 7.3 State Machine.
The control word has a number of bits that depend on the mode of operation that has been selected for the drive, and
a number of bits that control the transitions of the state machine. The bits of the control word are outlined below: -
MSB LSB
15 14 11 10 9 8 7 6 4 3 2 1 0
Brake
control
Not used Reserved halt Fault reset Operation
mode specific
Enable
operation
Quick stop Enable
voltage
Switch on
Figure 7.4 Control Word Bits