6040 h, Unsigned16 | Intelligent Motion Systems DSP-402 instruction

Object 6040h — Controlword

Ths controlword is a mandatory, unsigned 16 bit number containing bits for controlling the state and operating modes for the MDrivePlus CANo- pen.

Object Description

Index

Name

Object Code

Data Type

6040h

Controlword

VAR

Unsigned16

Entry Description

Access

PDO Mapping

Range

Default

r/w

n/a

Unsigned16

n/a

Data Description

MSB

LSB

15

11

10

9

8

7

6

4

3

2

1

0

Manufacturer

Reserved

Halt

Fault

Operation

Enable

Quick

Enable

Switch

Specific

Reset

Mode Specific

Operation

Stop

Voltage

On

O

O

O

M

O

M

M

M

M

O=Optional M= Mandatory

Device Control Command Bit Patterns (Bits 0-3 and 7)

			Bit of Controlword (6040h)				State

	Command	Fault Reset	Enable	Quick Stop	Enable	Switch On
	Command		Enable		Enable		Transitions
			Operation		Voltage		Transitions
		(Bit 7)	Operation	(Bit 2)	Voltage	(Bit 0)
		(Bit 7)	(Bit 3)	(Bit 2)	(Bit 1)	(Bit 0)
			(Bit 3)		(Bit 1)
	Shutdown	0	X	1	1	0	2, 6, 8
	Switch On	0	0	1	1	1	3
	Switch On	0	1	1	1	1	3
	Disable Voltage	0	X	X	0	X	7, 9, 10, 12
	Quick Stop	0	X	0	1	X	7,10, 11
	Disable Operation	0	0	1	1	1	5
	Enable Operation	0	1	1	1	1	4, 16
	Fault Reset		X	X	X	X	15

*The MDrivePlus CANopen executes the functionality of Switched On ** The MDrivePlus CANopen will do nothing

Table 4.3: MDrivePlus CANopen Device Control Commands (Bits Marked X are not relevant)

Device Operation Mode Bit Patterns (Bits 4-6 and 8)

	Operation Mode		Controlword 6040h Bits 4-6, 8
	Operation Mode	Bit 8	Bit 6	Bit 5	Bit 4
		Bit 8	Bit 6	Bit 5	Bit 4
	Profile Position	Halt	Absolute/Relative	Change Set Immediately	New Setpoint
	Profile Velocity	Halt	Reserved	Reserved	Reserved
	Homing*	Halt	Homing Operation Start	Reserved	Reserved

*Homing Mode is currently under development for the MDrivePlus CANopen Table 4.4: MDrivePlus CANopen Operation Modes

28	MDrivePlus CANopen R020507

Image 36

Intelligent Motion Systems DSP-402 manual 6040 h, Unsigned16, Object 6040h Controlword

Contents

Forcetm CANopen DSP402 Application Revision R020507 Contents Device Control Profile Position Mode Optional Application FE General I/O List of Figures This Page Intentionally Left Blank Application Guide MDrivePlus CANopen R020507 Introduction Can Message FormatMDrivePlus Architecture Homing Mode Section Profile Position Mode SectionProfile Velocity Mode Section Device Control Objects and the Object Dictionary Trajectory Generator Xxxx h Index Name Yes/No Default PDO MappingCategory Range Intentionally Left Blank Accessing The MDrivePlus CANopen Service Data Object SDOProcess Data Object PDO PDO Attributes PDO Mapping Procedure Consumer PDO Default Mapping Example Consumer PDOPDO Mapping PDO Objects Consumer PDO1 RPDO1 1400h Object DescriptionConsumer PDO1 RPDO1 1400h Entry Description 1600h Object Description Mapping Parameters Consumer PDO2 RPDO2 1401h Object Description Consumer PDO2 RPDO2 1401h Entry Description1601h Object Description Mapping Parameters 1601h Entry Description Mapping Parameters Consumer PDO3 RPDO3 1402h Object Description Consumer PDO3 RPDO3 1402h Entry Description1602h Object Description Mapping Parameters 1602h Entry Description Mapping Parameters Producer PDO1 TPDO1 1800h Entry Description 1A00h Object Description Mapping Parameters1A00h Entry Description Mapping Parameters Producer PDO2 TPDO2 1801h Object Description 1A01h Object Description Mapping Parameters 1A01h Entry Description Mapping ParametersProducer PDO3 TPDO3 1802h Object Description Producer PDO3 TPDO3 1802h Entry Description 1A02h Entry Description Mapping Parameters Object 2000h I/O Discretes Config Accessibility CodesDiscretes Unsigned 2002 h Config Input Switches Object 2002h I/O Discretes ConfigObject 2004h Input Filter Mask Config 2004h 2006h Input Filter TimeObject 2006h Input Filter Time ms 2010h Analog Input See Entry Desc2020h Software Limits as Unsigned Hardware 2031 h Unit Options 2032 h Clock OptionsSee Table 2033 h Capture Input 2204 h Run Current % 2205 h Hold Current %Object 2204h Run Current Percent Object 2205h Hold Current Percent Options Setting 2211hInteger Point Target Factory 5002hAscii Ser. No 5003h State Machine Control and Status words State Machine Transitions Internal 6040 h Unsigned16Object 6040h Controlword Statusword Object 6041h Statusword Bit 4 Voltage Enabled Bits 12-13 Operation Mode SpecificBit 5 Quick Stop Active Bit 7 Warning 6060h Mode of Operation ±Integer8Modes of Operation Object 6060h Modes of Operation 6061 h Mode of Operation Display Object 6061h Modes of Operation DisplayObject 6502h Supported Drive Modes = Mode Supported = Mode Not Supported Intentionally Left Blank Profile Position Mode General InformationTrajectory Generator Input Data Description Functional Description Set-Point Transmission from Host Computer Controlword 6040h of Profile Position Mode Single Set-Point Mode Move After a Move 6040h Bit 5=0 607A h Target Position Possible Integer6081 h Profile Velocity 6082 h End Velocity 6083 h Profile Acceleration6084 h Profile Deceleration 6086 h Motion Profile Type Object 6086h Motion Profile Type Homing Mode Input Data DescriptionOutput Data Description Internal States Statusword 6041h of Homing Mode 607C h Homing OffsetHoming Offset 607Ch 6098 h Homing Method ± IntegerPossible ± Integer Homing Method 6098h Method 2 Homing on the Positive Limit Switch and Index Pulse Methods 7 to 14 Homing on the Home Switch and Index Pulse Homing on the Negative Home Switch and Index Pulse Methods 15 and 16 Reserved Methods 17 to 30 Homing without an Index PulseMethods 31 and 32 Reserved 6099 h Homing Speeds Methods 33 and 34 Homing on an Index PulseMethod 35 Homing on the Current Position Homing Speeds 6099h Intentionally Left Blank 6062 h 6063 h Position Actual Value6064 h Position Actual Value Position Control Function 6065 h Following Error Window 6066 h Following Error Timeout6068 h Position Window Time Unsigned Mfg-Specific Profile Velocity Mode Controlword 6040h of Profile Velocity ModeStatusword 6041h of Profile Velocity Mode 606C h Velocity Actual Value 60FF h Target Velocity 60FF h Maximum SlippageInteger Mfg-Specific Object 60FFh Target Velocity 60FD h Digital Inputs Optional Application FE General I/OObject 60FDh Digital Inputs 60FE h Digital Outputs Object 60FEh Digital Outputs Warranty Excellence in Motion