Elmo DSP 402 Bits 4, 5, 6 and, Bits 9 and, Bits 11, 12, 13, 14 and, Object 0x6041 Statusword

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

28

Bits 4, 5, 6 and 8:

These bits are operation-mode specific. Their description is found in the chapter about the special mode.

			Operation Mode
		Profile	Profile	Profile		Interpolation
Bit	Velocity	Position	Velocity	Torque	Homing	Position
	Mode	Mode	Mode	Mode	Mode	Mode
4	rfg enable	New set-point	Reserved	Reserved	Homing	Enable ip
					operation	mode
					start
5	rfg unlock	Change set	Reserved	Reserved	Reserved	Reserved
		immediately
6	rfg use ref	abs/rel	Reserved	Reserved	Reserved	Reserved
8	Halt	Halt	Halt	Halt	Halt	Halt

Not all modes mentioned in the table are implemented in Elmo servo drives.

Bits 9 and 10:

These bits are reserved for future use. They are de-activated by setting them to 0. If they have no special function, they are set to zero.

Bits 11, 12, 13, 14 and 15:

These bits are manufacturer specific.

Object 0x6041: Statusword

The statusword indicates the present state of the drive. No bits are latched. The statusword contains bits for:

The current drive state

The operating state of the mode Manufacturer-specific options

Object description:

Index	6041h
Name	Statusword
Object code	VAR
Data type	UNSIGNED16
Category	Mandatory