CANopen DSP 402 Implementation Guide
6:Device Control
6.1Objects
6040h: controlword
6041h: statusword
The Device Control function block controls all functions of the device, categorized as: Device control of the state machine
Operation mode functions
The state of the device is controlled by the controlword, while the status of the device is indicated by the statusword.
The state machine is controlled externally by the controlword and external signals. Write access to the controlword is always allowed. The SimplIQ is always in external mode, thus the “Remote” indication in the statusword is always ‘1’. The state machine is also controlled by internal signals such as faults and modes of operation.
The following diagram illustrates the Device Control function.
The Elmo drive is always in remote mode; that is, it can be controlled only externally by using the SDO and PDO.
20
controlword Terminals (6040h)
Logical Operation
State Machine
statusword
(6041h)
Remote
Faults
Status of the Drive Function
Figure
State Machine
The state machine describes the device status and the possible control sequence of the drive. A single state represents a special internal or external behavior. The state of the drive also determines which commands are accepted; for example, a
