Elmo DSP 402 Modes of Operation, 7.1Functional Description, 7.2Objects, 6060h Modes of operation

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

36

7: Modes of Operation

6060h: Modes of operation

6061h: Modes of operation display

7.1Functional Description

The drive behavior depends on the activated modes of operation. Different modes can be implemented, although not in parallel. Therefore, the user must activate the required function by selecting a mode of operation. The modes-of-operation variables are initialized at reset to “no mode” (value -1). Modes can be set in any state, including OPERATION ENABLE. At OPERATION ENABLE, the motor stands still until an explicit motion command is received via a control word. Bit 10 in the statusword (Target reached) is set.

When switching modes in OPERATION ENABLE, the transition proceeds as if bit 8 (Halt) in the controlword has been set. The motion first stops according to object 605Dh. The mode actually changes only after a complete stop, according to the definition of target reached. The actual mode is reflected via object 6061h.

The statusword contains bits whose meaning depends on the mode of operation. When switching modes, the “mode dependent” bits in the controlword and statusword must be monitored.

7.2Objects

Object 0x6060: Modes of operation

Object description:

	Index	6060h
	Name	Modes of operation
	Object code	VAR
	Data type	INTEGER8
	Category	Mandatory
Entry description:
	Access	Read/write
	PDO mapping	No
	Value range	INTEGER8
	Default value	-1