Canopen Device Profile Cia 402; Device Control State Machine; Supported Modes Of Operation - ABB FECA-01 User Manual

68 Communication profiles

CANopen device profile CiA 402

The CiA 402 profile is a standardized device profile used for digital
controlled motion products (for example, drives) and is part of the
CANopen specification. Additional information can be obtained at
www.can-cia.org.

Device control state machine

The start and stop of the drive and several mode-specific
commands are executed by the device control state machine. This
is described in the figure in
CiA 402 profile.
The Control word is the principal means for controlling the drive
from a fieldbus system. It is sent by the fieldbus master to the drive
through the adapter module. The drive switches between its states
according to the bit-coded instructions in the Control word, and
returns status information to the master in the Status word.

Supported modes of operation

The CiA 402 profile offers several modes of operation. These
modes define the operation of the drive. The CiA 402 operation
modes are supported by the drives as follows:
Operation ACSM1
mode motion
Velocity
mode
Profile
torque
mode
Profile
velocity
mode
Profile
position
mode
Homing
mode
Control word and Status word of the
ACSM1
speed
vl vl
tq tq
pv pv
pp
hm
ACS850 ACS355 ACS880 ACS580
vl vl
tq tq
pv pv
vl vl
tq tq
pv pv