CANopen DSP 402 Implementation Guide
Contents |
| |
1: Introduction | 1 | |
1.1 | Operating Principles | 1 |
1.2 | Abbreviations and Terms | 2 |
1.3 | Elmo Documentation | 3 |
2: The DSP 402 Object Dictionary | 4 | |
3: Emergencies | 9 | |
4: Predefinition | 9 | |
| Object 0x1000: Device type | 9 |
| Object 0x1001: Error register | 9 |
5: Common Entries | 12 | |
5.1 | Drive Error | 12 |
| Object 0x6007: Abort connection option code | 12 |
| Object 0x603F: Error code | 13 |
5.2 | Motor Data | 13 |
| Object 0x6402: Motor type | 13 |
| Object 0x6403: Motor catalog number | 14 |
| Object 0x6404: Motor manufacturer | 15 |
| Object 0x6406: Motor calibration data | 15 |
| Object 0x6407: Motor service periods | 16 |
5.3 | Drive Data | 16 |
| Object 0x6502: Supported drive modes | 17 |
| Object 0x6504: Drive manufacturer | 17 |
| Object 0x6505: http drive catalog address | 18 |
| Object 0x60FD: Digital inputs | 18 |
6: Device Control | 20 | |
6.1 | Objects | 20 |
| Object 0x6040: Controlword | 26 |
| Object 0x6041: Statusword | 28 |
6.2 | Halt, Stop and Fault Objects | 31 |
| Object 0x605A: Quick stop option code | 31 |
| Object 0x605B: Shutdown option code | 32 |
| Object 0x605C: Disable operation option code | 33 |
| Object 0x605D: Halt option code | 34 |
| Object 0x605E: Fault reaction option code | 35 |
7: Modes of Operation | 36 | |
7.1 | Functional Description | 36 |
7.2 | Objects | 36 |
| Object 0x6060: Modes of operation | 36 |
| Object 0x6061: Modes of operation display | 37 |
