Applied Motion ST10-C-CE - Manual (Page 45)

45 920-0025 Rev K
3/5/2015
CANopen User Manual
Device Profile
The objects described in this section are parameters for all motion control modes, includ-
ing profile position mode, profile velocity mode and also Homing mode.
0x603F DSP Error Code
The DSP error code captures the DSP alarm code of the last error that occurred in the drive.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 ro yes no 0
Each bit in DSP Error code indicates one type of alarm or fault status.
(see the detail described in Appendix C)
0x6040 ControlWord
This object is used to control the state and motion control of the drive. It can be used to
enable / disable the driver power output, start, and abort moves in all operating modes, and
clear fault conditions.
The bits of the controlword are defined as follows:
LSB MSB
15 11 10 9 8 7 6 4 3 2 1 0
Manufacturer
Specific
Reserved Halt Fault
Reset
Operation
Mode
Specific
Enable
Operation
Quick
Stop
Enable
Voltage
Switch
On
O O O M O M M M M
Table 12: Controlword Data Description
Command Bit of Controlword(6040h)
Fault
Reset
(Bit7)
Enable
Operation
(Bit 3)
Quick
Stop
(Bit 2)
Enable
Voltage
(Bit 1)
Switch On
(Bit 0)
Shutdown 0 × 1 1 0
Switch On 0 0 1 1 1
Switch On 0 1 1 1 1
Disable Voltage 0 × × 0 ×
Quick Stop 0 × 0 1 ×
Disable Operation 0 0 1 1 1
Enable Operation 0 1 1 1 1
Fault Reset × × × ×
Table 13: Device Control Command Bit Patterns (Bits 0-3 and 7)