Elmo DSP 402 manual Illegal Transition, Object 0x6040 Controlword, Index, 6040h

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Illegal Transition

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

26

Illegal Transition

After initiation of a drive by either power on or NMT node reset, the drive automatically performs transitions 0 and 1 to the SWITCH ON DISABLED state. The controlword can then be used to cause any of the transitions defined previously. If a transition is illegal (such as requesting a QUICK STOP in a FAULT state), the controlword is rejected with abort code 0609 0030, “Value range of parameter exceeded.” If an RPDO is used to control the drive, an RPDO style emergency is transmitted with the error code. The emergency structure and meaning is illustrated in the SimplIQ CANopen Implementation Manual. This emergency can be masked in accordance with object 2F21h. In case of an illegal transition, bit 7 in the statusword (warning) is set for at least the next transmission of this statusword. The bit is after a legal transition of the controlword.

The resolution for statusword transmission is approximately 3 milliseconds. Events that are modified during this time are sensed and responded to, but no notification of them is made by the statusword.

Object 0x6040: Controlword

The controlword contains bits for:

Controlling the state

Controlling operating modes

Manufacturer-specific options

Object description:

	Index		6040h
	Name		Controlword
	Object code		VAR
	Data type		UNSIGNED16
	Category		Mandatory
Entry description:

	Access		Read/write
	PDO mapping		Possible
	Value range		UNSIGNED16
	Default value		No

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Contents December Elmo Motion Control CANopen DSPImplementation Guide Important Notice Revision HistoryContents 1 Introduction2 The DSP 402 Object Dictionary 3 Emergencies10.1 11.1 Appendix B Notation Index Table Appendix A Dimension Index Table14 Profiled Torque Mode 1 Introduction 1.1Operating Principles1.2Abbreviations and Terms 1.3Elmo Documentation Programming Setup InstallationSimplIQ Command Reference Manual CANopen Implementation Guide2 The DSP 402 Object Dictionary AccessImplementation Guide NamePosition Homing offset value and actual position valuePosition encoder Motor type 3 Emergencies 4 PredefinitionObject 0x1001 Error register Default Value1800h StatuswordIndex Object 0x6007 Abort connection option code 5.1Drive Error5 Common Entries 5.2Motor Data Object 0x603F Error code6407h Motor service period 6402h: Motor type 6403h: Motor catalog numberIndex 6402hObject 0x6403 Motor catalog number IndexObject 0x6404 Motor manufacturer Index6404h Object 0x6406 Motor calibration data5.3Drive Data 6502h Supported drive modes6504h Drive manufacturer 6505h Http drive catalog addressObject 0x6502 Supported drive modes Index6502h Object 0x6504 Drive manufacturerObject 0x6505 http drive catalog address Index6505h Object 0x60FD Digital inputsPage 6040h controlword 6041h statusword 6 Device Control6.1Objects State Machine Figure 6-3 State Machine Block DiagramFigure 6-2 State Machine in System Context NOT READY TO SWITCH ON The drive function is disabledThe drive function is disabled READY TO SWITCH ONThe fault reaction function is being executed The drive function is disabledThe drive function is disabled Event ResetEvent Enable Operation command received from host Action NoneImportant Notes about State Transition Illegal Transition Object 0x6040 ControlwordIndex 6040hBits 0 - 3 and Bits 4, 5, 6 and Bits 9 andBits 11, 12, 13, 14 and Object 0x6041 StatuswordDescription Bits 0 - 3, 5 andValue binary StateBit 4 Voltage Enabled Bit 5 Quick StopBit 7 Warning Bit 9 Remote6.2Halt, Stop and Fault Objects 605C Disable operation mode605D Halt option code 605E Fault reaction code 605A Quick stop option codeValue DescriptionObject 0x605B Shutdown option code IndexObject 0x605C Disable operation option code ValueDescription IndexObject 0x605D Halt option code Index605Dh ValueObject 0x605E Fault reaction option code Index605Eh Value7 Modes of Operation 7.1Functional Description7.2Objects 6060h Modes of operationValue DescriptionObject 0x6061 Modes of operation display Index8 Factors 8.2Functions and Limits608Ah Position dimension index 608Ch Velocity dimension index8.3Objects Object 0x607E PolarityIndex 607EhObject 0x608A Position dimension index Object 0x6089 Position notation indexIndex 6089h608Bh Object 0x608B Velocity notation indexIndex Object 0x608C Velocity dimension index Index608Ch Object 0x608D Acceleration notation index608Eh Object 0x608E Acceleration dimension indexIndex Object 0x608F Position encoder resolution motor revolutionsIndex 608Fhvelocity encoder resolution = Object 0x6090 Velocity encoder resolutionencoder increments / sec motor revolutions / secObject 0x6093 Position factor Index6093h Sub-indexObject 0x6094 Velocity encoder factor Index6094h Sub-indexSub-index Object 0x6095 Velocity factorIndex 6095hSub-index Sub-indexObject 0x6096 Velocity factor IndexEntry description Object 0x6097 Acceleration factor Index6097h Sub-indexThe acceleration factor is calculated according to this object regardless of the setting of any other objects, such as 0x6094 velocity encoder factor 9 Homing 9.1General Information607Ch Home offset 6098h Homing method 6099h Homing speeds 609Ah Homing accelerationName 9.2Objects Object 0x607C Home offsetIndex 607ChObject 0x6098 Homing method Index6098h ValueObject 0x6099 Homing speeds Index6099h Sub-index9.3Functional Description Object 0x609A Homing accelerationIndex 609AhError Cases 9.4DSP 402 Homing Methods 9.4.3Methods 3 and 4 Homing on the positive home switch and index pulse Page Figure 9-7 Homing on the positive home switch Figure 9-8 Homing on the positive home switch9.4.6Methods 15 and 16 Reserved 9.4.8Methods 31 and 32 Reserved10 Position Control Function 10.1General Information6065h Following error window 60F4h Following error actual value10.2Objects Object 0x6062 Position demand valueIndex 6062hObject 0x6065 Following error window Object 0x6064 Position actual valueIndex 6064H6066h Object 0x6066 Following error time outIndex Object 0x6067 Position window Index6067h Object 0x6068: Position window time60FCh Object 0x60FC Position demand value - incrementsIndex 11 Profiled Position 11.1General Information607Ah Target position 607Bh Position range limitName ValueDescription Assumes target position11.2Objects Object 0x607A Target positionIndex 607AhEntry description Object 0x607D Software position limit Index607Dh Sub-indexSub-index Object 0x607F Max profile velocityIndex 607FhObject 0x6081 Profile velocity Index6081h Object 0x6082 End velocity not yet implementedObject 0x6083 Profile acceleration Index6083h Object 0x6084 Profile decelerationObject 0x6085 Quick stop deceleration Index6085h Object 0x6086 Motion profile type11.3Functional Description 5.Unless it was interrupted by a change set immediately, the next trajectory is executed as soon as a target reached is set 12 Interpolated Position 12.1General Information60C4h Interpolation data configuration 60C0h Interpolation sub mode selectInterpolation active Buffer resetInterpolation inactive Controlword of Interpolated Position mode 12.2Objects Object 0x60C0 Interpolation sub mode selectIndex 60C0hObject 0x60C1 Interpolation data record Index60C1h Sub-indexObject 0x60C2 Interpolation time period Index60C2h Sub-indexObject 0x60C3 Interpolation sync definition Object 0x60C4 Interpolation data configuration ValueDescription ValueSub-index Sub-index Buffer strategiesFIFO Ring buffer12.3Functional Description Page 12.3.3Motion Synchronization 13 Profiled Velocity 13.1General Information6069h Velocity sensor actual value 6060h Velocity windowControlword of the profiled velocity mode 13.2Objects Object 0x6069 Velocity sensor actual valueIndex 6069hValue DescriptionObject 0x606B Velocity demand value IndexObject 0x606C Velocity actual value Index606Ch Object 0x606D Velocity windowObject 0x606E Velocity window time Index606Eh Object 0x606F Velocity thresholdObject 0x6070 Velocity threshold time Index6070h Object 0x60FF Target velocity14 Profiled Torque Mode 14.1General Information14.1.1Internal states Controlword of profile torque modeFunction Name14.2Objects dictionary entries 14.2.1Objects defined in other chapters14.2.2Objects description Target torque reachedObject 0x6072 Max torque Index6072h Object 0x6073 Max Current6074h Object 0x6074 Torque Demand valueIndex Object 0x6075 Motor Rate Current Index6075h Object 0x6076 Motor Rate TorqueObject 0x6077 Torque Actual value Index6077h Object 0x6078 Current Actual valueObject 0x6087 Torque slope Index6087h Object 0x6088 Torque profile typeAppendix A Dimension Index Table Physical DimensionDimension Index UnitAppendix B Notation Index Table SymbolPrefix Factor