ABB FEPL-02 Ethernet POWERLINK, User Manual

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Communication profiles 75
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 .
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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:
In this section, the scalings of the reference and actual values are
described for each operation mode. Operation mode -specific
objects are defined in Appendix A – CANopen Object Dictionary .
The current operation mode is displayed in object 0x6061, and it
can be changed using object 0x6060.
Velocity mode
The velocity mode is the basic mode to control the velocity of the
drive with limits and ramp functions.
The velocity command value is object 0x6042 vl target velocity
(rpm).
Note: In the velocity operation mode, the operation is governed by
a different set of objects than in other operation modes, namely:
0x6046 vl velocity min max amount, 0x6048 vl velocity
acceleration, 0x6049 vl velocity deceleration, 0x604A vl velocity
quick stop and 0x604C vl dimension factor.
Operation mode ACSM1
motion ACSM1
speed ACS850 ACS355 ACS880
Velocity mode vl vl vl vl vl
Profile torque mode tq tq tq tq tq
Profile velocity mode pv
Profile position mode pp
Homing mode hm
Note: Drive synchronization is supported only with ACSM1 drives.