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

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