ABB FECA-01 EtherCAT, User Manual

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68 Communication profiles
CANopen device profile CiA 402
The CiA 402 profile is a standardized device profile used for digital
controlled motion products (for example, drives) and is part of the
CANopen specification. Additional information can be obtained at
www.can-cia.org .
Device control state machine
The start and stop of the drive and several mode-specific
commands are executed by the device control state machine. This
is described in the figure in Control word and Status word of the
CiA 402 profile .
The Control word is the principal means for controlling the drive
from a fieldbus system. It is sent by the fieldbus master to the drive
through the adapter module. The drive switches between its states
according to the bit-coded instructions in the Control word, and
returns status information to the master in the Status word.
Supported modes of operation
The CiA 402 profile offers several modes of operation. These
modes define the operation of the drive. The CiA 402 operation
modes are supported by the drives as follows:
Operation
mode ACSM1
motion ACSM1
speed ACS850 ACS355 ACS880 ACS580
Velocity
mode vl vl vl vl vl vl
Profile
torque
mode tq tq tq tq tq tq
Profile
velocity
mode pv pv pv pv pv pv
Profile
position
mode pp
Homing
mode hm