ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 26)

CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
20
6: Device Control
6.1 Objects
6040h: controlword
6041h: statusword
The Device Control function block controls all functions of the device, categorized as:
Device control of the state machine
Operation mode functions
The state of the device is controlled by the controlword, while the status of the device is
indicated by the statusword.
The state machine is controlled externally by the controlword and external signals. Write
access to the controlword is always allowed. The SimplIQ is always in external mode,
thus the “Remote” indication in the statusword is always ‘1’. The state machine is also
controlled by internal signals such as faults and modes of operation.
The following diagram illustrates the Device Control function.
The Elmo drive is always in remote mode; that is, it can be controlled only
externally by using the SDO and PDO.
Figure 6-1: Remote Mode
State Machine
The state machine describes the device status and the possible control sequence of the
drive. A single state represents a special internal or external behavior. The state of the
drive also determines which commands are accepted; for example, a point-to-point
motion can be started only when the drive is in OPERATION ENABLE state.
State Machine
controlword
(6040h)
Terminals
Logical Operation
statusword
(6041h)
Remote
Faults
Status of the Drive Function
State Machine State Machine
controlword
(6040h)
Terminals
Logical Operation Logical Operation
statusword
(6041h)
Remote
Faults
Status of the Drive Function