CANopen Programmer's Manual - Maccon.de

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.