Communication profiles
28
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.
The REPL-01 supports the 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 29
. The functionality of the Status
Word is described in table
Status Word of DSP 402
on
page 30
.
The Control Word can be found in object 0x6040 (hex) and the
Status Word in object 0x6041 (hex) (see chapter
CANopen object
dictionary
page 51
).
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 29
.
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.
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