
IL•1F CANopen DS301 | 3 Basics |
0198441113586, V2.01, 11.2008
3.4.2.2Receive PDO R_PDO4 (master -> slave)
The master device can execute the following actions via the PDO4 chan- nel to the slave:
•Control the state machine of the slave
–Enable/disable the power stage of the product
–Trigger and reset a "Quick Stop"
–Resetting faults
•Toggle the operating modes
–Profile Position operating mode, absolute and relative
–Profile Velocity operating mode
–Reference movement
–Position setting
•Set reference values
–Reference position
–Reference speed
–Type of reference movement
Structure of R_PDO4:
Byte | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
Ref32
Ref16
modeCtrl
driveCtrl
| driveCtrl - 8 Bits |
|
|
|
|
| ||
Bit | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
| 0 | 0 | 0 | QR | FR | QS | EN | DI |
Disable
Enable
Quickstop
Fault Reset
|
|
|
|
| Quickstop Release | |||
| modeCtrl - 8 Bits |
|
|
|
|
| ||
Bit | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
| MT |
| ACTION |
| 0 |
| MODE |
|
Requested Mode
Action within Mode
Mode Toggle
Figure 3.19 Structure of R_PDO4
Fieldbus interface | 35 |