Elmo DSP 402 User Manual
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
28
Bits 4, 5, 6 and 8:
These bits are operation-mode specific. Their description is found in the chapter
about the special mode.
These bits are operation-mode specific. Their description is found in the chapter
about the special mode.
Operation Mode
Bit
Velocity
Mode
Mode
Profile
Position
Mode
Mode
Profile
Velocity
Mode
Mode
Profile
Torque
Mode
Mode
Homing
Mode
Mode
Interpolation
Position
Mode
Mode
4
rfg enable
New set-point Reserved
Reserved
Homing
operation
start
operation
start
Enable ip
mode
mode
5
rfg unlock
Change set
immediately
immediately
Reserved Reserved Reserved
Reserved
6
rfg use ref
abs/rel
Reserved
Reserved
Reserved
Reserved
8
Halt
Halt Halt Halt Halt
Halt
Not all modes mentioned in the table are implemented in Elmo servo drives.
Bits 9 and 10:
These bits are reserved for future use. They are de-activated by setting them to 0. If
they have no special function, they are set to zero.
These bits are reserved for future use. They are de-activated by setting them to 0. If
they have no special function, they are set to zero.
Bits 11, 12, 13, 14 and 15:
These bits are manufacturer specific.
These bits are manufacturer specific.
Object 0x6041: Statusword
The statusword indicates the present state of the drive. No bits are latched. The statusword
contains bits for:
The statusword indicates the present state of the drive. No bits are latched. The statusword
contains bits for:
The current drive state
The operating state of the mode
Manufacturer-specific options
Object description:
Index 6041h
Name Statusword
Object code
VAR
Data type
UNSIGNED16
Category Mandatory