Vacon CANopen OPTE6, User Manual

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CANopen option board interface vacon • 69
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8.2.2 CiA-402 objects
8.2.2.1 0X6040 - Controlword
Controlword is used to control the drive operation according to the PDS state machine. By default,
Controlword is mapped into the first two bytes of rxPDO1.
Table 66. 0x6040:Controlword
8.2.2.2 0X6041 - Statusword
Statusword indicates whether the drive is in remote control and if the target velocity is reached. By
default, Statusword is mapped into the first two bytes of txPDO1.
Table 67. 0x6041:Statusword
8.2.2.3 0X6042 - vl Target Velocity
The signed value of motor rpm speed request to drive. A negative value means that the motor is run-
ning clockwise. By default, the object is mapped into the last two bytes of rxPDO1.
Bit Name Description
12-15 na Not used Bits 12 through 15 are not in use.
11 ar Alarm reset Rising edge resets alarm
10 r Reserved Bit 10 is not in use
9 oms Operation mode specific Bit 9 is not in use
8 h Halt Bit 8 is not in use
7 fr Fault reset Rising edge resets fault
4-6 na Not Used Bits 4 through 6 are not in use.
3 eo Enable operation Start drive
2 qs Quick stop Stops the drive using the drive/application specific stop function
used as quick stop
1 ev Enable voltage Enables/disables output voltage
0 so Switch on Enables possibility to start drive together with ev
Bit Name Description
15 na Not in use Bit 15 is not in use
14 idm Incorrect drive mode Indicates that the drive is in incorrect “Control mode” for the used
CiA-402 profile
12-13 oms Operation mode specific Bits 12 through 13 are not in use
10 tr Target reached Target velocity reached
9 rm Remote Indicates if the drive is controllable by Fieldbus
8 na Not in use Bit 8 not in use.
7 w Warning The AC drive has an active Alarm.
6 sod Switch on disabled PDS switch on disable
5 qs Quick stop PDS quick stop active
4 ve Voltage enabled Voltage is enabled
3 f Fault PDS Fault (indicates fault condition)
2 oe Operation enabled PDS operation enabled (drive is running)
1 so Switched on PDS switched on
0 rtso Ready to switch on PDS ready to switch on