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

CANopen device profile CiA 402

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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 figure below.
Homing Profile
mode Position
1)
ACS355 supports only vl.
1)
ACS850 and ACS880 support vl and tq.
1)
ACSM1 supports hm, pp, pv, tq and vl.
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 Control word and Status word of the CiA 402 profile
page 93.
Device Control state machine
Modes of operation
Inter-
polated
mode Position
2)
mode
Communication profiles 89
1)
Profile
Profile
Torque
Velocity
mode
mode
2)
Not supported
Velocity
mode
on