ABB RECA-01, User Manual

Page: 34 / 86

Communication profiles
34
bit-coded instructions in the Control Word, and returns status
information to the master in the Status Word.
Supported mode of operation
The DSP 402 profile offers a choice of several modes of
operation. These modes define the operation of the drive.
RECA-01 supports Velocity mode, which is a basic operation
mode used to control the velocity of the drive.
Control Word and Status Word of the DSP 402 profile
The functionality of the Control Word is described in tables Control
Word of DSP 402 below and Operation of bits 0…3 and 7 of the
DSP 402 Control Word on page 35 . The functionality of the Status
Word is described in table Status Word of DSP 402 on page 36 .
The Control Word can be found in CoE object 0x6040 (hex) and
the Status Word in CoE object 0x6041 (hex) (see chapter
CoE
object dictionary page 59 ).
Control Word of DSP 402
Bit Name Value Description
0 Switch ON The functionality of bits 0…3 and 7 are
described in table
Operation of bits 0…3
and 7 of the DSP 402 Control Word on
page 35 .
1 Enable voltage
2 Quick stop
3 Enable operation
4 Ramp function
generator enable. 0 Force ramp function generator output to
zero. Drive ramps to stop (current and DC
voltage limits in force).
1 Normal operation: Velocity reference is
the output value of the ramp function
generator.
5 Ramp function
generator unlock. 0 Ramp function generator output value is
locked to the current output value.
1 Normal operation: Ramp output value
follows ramp input value.