CANopen DSP 402 Implementation Guide
Data description:
27
15 | 11 | 10 | 9 | 8 | 7 | 6 | 4 | 3 | 2 | 1 | 0 |
Manufacturer | Reserved | Halt | Fault | Operation |
| Enable | Quick | Enable | Switch on | ||
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| reset | mode specific | operation | stop | voltage |
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O |
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| O | O | M | O |
| M | M | M | M |
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MSB |
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| LSB |
O:Optional
M:Mandatory
Bits 0 – 3 and 7:
Device control commands are triggered by the following bit patterns in the controlword:
Command |
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| Transitions | ||
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| 7 |
| 3 | 2 | 1 | 0 |
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| Fault | Enable | Quick | Enable | Switch |
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| Reset | Operation | Stop | Voltage | On |
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Shutdown | 0 |
| X | 1 | 1 | 0 | 2, 6, 8 | ||
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Switch ON | 0 |
| 0 | 1 | 1 | 1 | 3* | ||
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Switch ON | 0 |
| 1 | 1 | 1 | 1 | 3** | ||
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Disable | 0 |
| X | X | 0 | X | 7, 9, 10, 12 | ||
Voltage |
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Quick Stop | 0 |
| X | 0 | 1 | X | 7, 10, 11 | ||
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Disable | 0 |
| 0 | 1 | 1 | 1 | 5 | ||
Operation |
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Enable | 0 |
| 1 | 1 | 1 | 1 | 4, 16 | ||
Operation |
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Fault Reset |
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| X | X | X | X | 15 |
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Device Control Command Triggers
Bits marked with X are not relevant.
*The drive executes the functionality of SWITCH_ON.
**The drive does nothing in this state, which is treated the same as in *.
