Canopen Device Profile Dsp 402; Device Control State Machine - ABB FCAN-01 User Manual

72

CANopen device profile DSP 402

**) Not supported

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 Control Word is the principal means for controlling the drive
from a fieldbus system. It is sent by the fieldbus master station 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.
The contents of the Control Word and the Status Word are
detailed section
profile
Communication profiles
Device Control state machine
Profile
Homing
Position
Mode
mode
Control Word and Status Word of the DSP 402
on page 77.
Modes of operation
Inter-
Profile
Polated
Velocity
Position
mode
mode
**)
*)
ACS350 and ACS355 support only vl.
*)
ACS850 supports vl and pt.
*)
ACSM1 supports hm, pp, pv, pt and vl.
Figure 2.
*)
Velocity
Profile
Torque
mode
mode