CANopen Programmer's Manual - Maccon.de

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3: Device Control, Configuration, and Status CANopen Programmer’s Manual 3.1: Device Control and Status Overview Contents of this Section This section describes the objects and functions used to control the status of an amplifier. Topics include: Control Word, Status Word, and Device Control Function .......................................................................... 53 State Changes Diagram ............................................................................................................................... 55 52 Copley Controls
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status Control Word, Status Word, and Device Control Function Device Control Function Block The CANopen Profile for Drives and Motion Control (DSP 402) describes control of the amplifier in terms of a control function block with two major sub-elements: the operation modes and the state machine. Control and Status Words As illustrated below, the Control Word object (index 0x6040, p. 58) manages device mode and state changes. The Status Word object (index 0x6041, p. 58) identifies the current state of the amplifier. The Mode Of Operation object (index 0x6060, p. 64) sets the amplifier’s operating mode. Device Control Function Operation Mode Homing, Profile Position Profile Velocity, Interpolated Position CSP, CSV, CST Control Word (0x6040) Status Word (0x6041) State Machine Digital Inputs Copley Controls 53 Fault Modes of Operation (0x6060) Other factors affecting control functions include: digital input signals, fault conditions, and settings in various dictionary objects. Operation Modes As controlled by the Mode Of Operation object (index 0x6060, p. 64), Copley Controls CANopen amplifiers support homing, profile position, profile velocity, profile torque, and interpolated position modes. State Machine Nesting Note that the Communication Profile also specifies a state machine, with three states: preoperational, operational, and stopped. The entire device control function block described in this chapter, including the device state machine, operates in the operational state of the Communication Profile state machine.
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