Cia 402 Drive Profile; Device Control - WEG SCA06 User Manual

8 CIA 402 DRIVE PROFILE
The objects that are common for drives, defined by the CANopen specification in the CiA DSP 402 document, are
described in this section
The following table presents the list of the available objects for the servo drive SCA06, divided according to the
different operation modes of the device.
Sub-
Index
index
6040h
6041h
6060h
6061h
6502h
608Fh
6091h
6092h
6063h
6064h
607Ah
6081h
6083h
6084h
6086h
6069h
606Bh
606Ch
60FFh
6071h
6077h
6087h
6088h
60B1h
60C2h
8.1

DEVICE CONTROL

The following figure represents the state machine for controlling the drive.
Table 8.1: Object List – Drive Profile
Name
0 ControlWord
0 StatusWord
0 Modes of operation
0 Modes of operation display
0 Supported drives modes
0 Position encoder resolution
0 Gear ratio
0 Feed constant
Position Control Function
0 Position actual internal value
0 Position actual value
Profile Position Mode
0 Target position
0 Profile velocity
0 Profile acceleration
0 Profile deceleration
0 Motion profile type
Profile Velocity Profile
0 Velocity sensor actual value
0 Velocity demand value
0 Velocity actual value
0 Target velocity
Profile Torque Mode
0 Target torque
0 Torque actual value
0 Torque slope
0 Torque profile type
Cyclic Synchronous Position mode/Cyclic Synchronous Velocity Position mode
0 Velocity offset
0 Interpolation time period
Type
Device Control
UINT16
UINT16
INT8
INT8
UINT32
Factor Group
UINT32
UINT32
UINT32
INT32
INT32
INT32
UINT32
UINT32
UINT32
INT16
INT32
INT32
INT32
INT32
INT16
INT16
UINT32
INT16
INT32
Interpolation time
period record
CiA 402 Drive Profile
PDO
Access
Mapping
rw Yes
ro Yes
rw Yes
ro Yes
ro Yes
rw No
rw No
rw No
ro Yes
ro Yes
rw Yes
rw Yes
rw Yes
rw Yes
rw Yes
ro Yes
ro Yes
ro Yes
rw Yes
rw Yes
ro Yes
rw Yes
rw Yes
rw Sim
ro Sim
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