Elmo DSP 402 Manual Do Utilizador
Data description:
15 11
10
9
8 7
6
4 3 2 1
0
Manufacturer
specific
specific
Reserved Halt
Fault
reset
reset
Operation
mode specific
mode specific
Enable
operation
operation
Quick
stop
stop
Enable
voltage
voltage
Switch on
O O
O
M O M
M
M M
MSB
LSB
O: Optional
M: Mandatory
M: Mandatory
Bits 0 – 3 and 7:
Device control commands are triggered by the following bit patterns in the
controlword:
Device control commands are triggered by the following bit patterns in the
controlword:
Command
Bits of the controlword
Transitions
7 3
2
1
0
Fault
Reset
Reset
Enable
Operation
Operation
Quick
Stop
Stop
Enable
Voltage
Voltage
Switch
On
On
Shutdown
0
X
1
1
0
2, 6, 8
Switch ON 0
0
1
1
1
3*
Switch ON 0
1
1
1
1
3**
Disable
Voltage
Voltage
0
X
X
0
X
7, 9, 10, 12
Quick Stop 0
X
0
1
X
7, 10, 11
Disable
Operation
Operation
0 0
1
1
1
5
Enable
Operation
Operation
0 1
1
1
1
4,
16
Fault Reset
X X
X
X
15
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
27
Device Control Command Triggers
Bits marked with X are not relevant.
* The drive executes the functionality of SWITCH_ON.
** The drive does nothing in this state, which is treated the same as in *.