Canopen Operation - Servotronix stepIM Technical Training Manual

stepIM

16 CANopen Operation

A stepIM integrated motor typically functions as a slave of an external controller
or PLC on a CAN (Controller Area Network) bus. This chapter serves to
demonstrate the commands and status messages that are exchanged between
the controller and stepIM using CANopen protocol.
The sequencing of stepIM power-up and motion are controlled by the stepIM
state machine. It determines which commands are accepted; for example, motor
movement cannot start unless the state machine is in the Operation Enable
state. The state machine also provides the ability to respond to faults and to
disable the drive.
Object 6040h (controlword) is used to request state transitions while
object 6041h (statusword) reflects the current state of the state machine.
In the diagram below, the names represent the states while the numbered
arrows represent transitions.
The state indicated by object 6041h is updated when the transition has been
completed.
State Machine Transition Diagram
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