Contents
1: Introduction ............................................................................................................................ 1
1.1
Operating Principles......................................................................................................... 1
1.2
Abbreviations and Terms................................................................................................. 2
1.3
Elmo Documentation........................................................................................................ 3
2: The DSP 402 Object Dictionary ........................................................................................... 4
3: Emergencies ............................................................................................................................ 9
4: Predefinition ........................................................................................................................... 9
Object 0x1000: Device type .............................................................................................. 9
Object 0x1001: Error register............................................................................................ 9
5: Common Entries ....................................................................................................................12
5.1
Drive Error........................................................................................................................12
Object 0x6007: Abort connection option code.............................................................. 12
Object 0x603F: Error code .............................................................................................. 13
5.2
Motor Data........................................................................................................................13
Object 0x6402: Motor type.............................................................................................. 13
Object 0x6403: Motor catalog number .......................................................................... 14
Object 0x6404: Motor manufacturer.............................................................................. 15
Object 0x6406: Motor calibration data .......................................................................... 15
Object 0x6407: Motor service periods ........................................................................... 16
5.3
Drive Data.........................................................................................................................16
Object 0x6502: Supported drive modes ........................................................................ 17
Object 0x6504: Drive manufacturer............................................................................... 17
Object 0x6505: http drive catalog address .................................................................... 18
Object 0x60FD: Digital inputs........................................................................................ 18
6: Device Control.......................................................................................................................20
6.1
Objects...............................................................................................................................20
Object 0x6040: Controlword .......................................................................................... 26
Object 0x6041: Statusword ............................................................................................. 28
6.2
Halt, Stop and Fault Objects ...........................................................................................31
Object 0x605A: Quick stop option code........................................................................ 31
Object 0x605B: Shutdown option code ......................................................................... 32
Object 0x605C: Disable operation option code ............................................................ 33
Object 0x605D: Halt option code................................................................................... 34
Object 0x605E: Fault reaction option code ................................................................... 35
7: Modes of Operation ..............................................................................................................36
7.1
Functional Description ....................................................................................................36
7.2
Objects...............................................................................................................................36
Object 0x6060: Modes of operation ............................................................................... 36
Object 0x6061: Modes of operation display.................................................................. 37
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
