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920-0025 Rev K
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CANopen User Manual
The following bits indicate the status of the device:
State Bit 6
Switch On
Disable
Bit 5
Quick
Stop
Bit 3
Fault
Bit 2
Operation
Enabled
Bit 1
Switch
On
Bit 0
Ready to
Switch On
Not Ready
to Switch On
0 X 0 0 0 0
Switch On
Disabled
1 X 0 0 0 0
Ready to
Switch On
0 1 0 0 0 1
Switched On 0 1 0 0 1 1
Operation
Enabled
0 1 0 1 1 1
Fault 0 X 1 1 1 1
Fault
Reaction
Active
0 X 1 1 1 1
Quick Stop
Active
0 0 0 1 1 1
Table 15: Device State Bits
Bits marked × are irrelevant for the state. Other bit combinations are not allowed
Bit 9: Remote
If bit 9 is set, then parameters may be modied via the CAN-network, and the drive ex-
ecutes the content of a command message. If the remote bit is reset, then the drive is in local
mode and will not execute the command message. The drive may transmit messages contain-
ing valid actual values like a position_actual_value, depending on the actual drive congura-
tion. The drive will accept accesses via service data objects (SDOs) in local mode.
Bit 10: Target Reached
If bit 10 is set by the drive, then a setpoint has been reached (torque, speed or position
depending on the modes_of_operation). The change of a target value by software alters this
bit. If quickstop_option_code is 5, 6, 7 or 8, this bit must be set, when the quick stop operation
is nished and the drive is halted. If Halt occured and the drive has halted then this bit is set
too.
Bit 11: Internal Limit Active
When this bit is set, the drive indicates that an internal limitation is active (e.g. position_
range_limit).
Here is the Command Structure.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 ro yes yes 0
- Applied Motion Products 1
- CANopen Manual 1
- Introduction 2
- User Advisory: 2
- Contents 3
- List of Tables 6
- Reference Documents 8
- Commonly Used Acronyms 8
- Drive Setup 9
- CANopen BitRate & NodeID 10
- Drive Conguration 11
- Figure 4: 12
- Object Dictionary 13
- Electronic Data Sheet 14
- INTEGER16 RW Yes 16
- Table 5: CiA 402 Objects 17
- 920-0025 Rev K 18
- 3/5/2015 18
- CANopen User Manual 18
- General Purpose Registers 19
- Index (hex) Object 20
- Communication Prole 21
- COS Default value 25
- Subindex Name Default value 25
- Object Type Sub Number 30
- Manufacturer Specic Objects 38
- Device Prole 45
- 0x6041 StatusWord 46
- Mode of Operation Action 49
- Position polarity 52
- Bit number Description 56
- Appendix C - Response Codes 60
- General Mode Description 61
- Enable Prole Position Mode 61
- Set Running Parameters 61
- Starting/Stopping Motion 61
- Figure 12: Single Set-Point 62
- Enable Prole Velocity Mode 66
- Enable Drive Operation 66
- Appendix F - Homing Methods 68
- Homing Method 2 69
- Homing Method 3 69
- Homing Method 4 70
- Homing Method 5 70
- Homing Method 6 71
- Homing Method 7 71
- Homing Method 8 72
- Homing Method 9 72
- Homing Method 10 73
- Homing Method 11 73
- Homing Method 12 74
- Homing Method 13 74
- Homing Method 14 75
- Homing Methods 15 and 16 75
- Homing Method 17 76
- Homing Method 18 76
- Homing Methods 19 and 20 77
- Homing Methods 21 and 22 78
- Homing Methods 23 and 24 79
- Homing Methods 25 and 26 80
- Homing Methods 27 and 28 81
- Homing Methods 29 and 30 82
- Homing Methods 31 and 32 83
- Homing Method 33 83
- Homing Method 34 84
- Homing Method 35 84
- Enable Prole Torque Mode 85
- Starting/Stopping Torque 86
- Current Verication - Example 86
- Appendix H - Q Program Mode 88
- More Information 89
- NMT Mode NMT Control 90
- NMT Status Code 90
- (Heartbeat) 90
- PDO Access 91
- TPDO Transmission Types 92
- PDO Mapping Procedure 93
- Default PDO Mapping - Stepper 94
- Default PDO Mapping - Servo 94
- PDO COB-ID 95
- Control Word of Homing Mode 97
- Status Word of Homing Mode 97
- Control Word of Q Mode 98
- Status Word of Q Mode 98
- Appendix L – Example Programs 99
- Prole Velocity Mode 100
- Homing Mode 100
- Normal Q Mode 101
- Sync Q Mode 101
- PDO Mapping 101
- Applied Motion Products, Inc 101
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