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25Part 2: DSP-402 Implementation
Section 4
Device Control
Device Control
The device control function block controls all the func-
tions of the MDrivePlus CANopen and is divided into to
sections:
1. Control of the State Machine
2. Operation Mode
Control and Status words
Controlword (Object Index 6040h) controls the state
and operation modes of the MDrivePlus CANopen.
Statusword (Object Index 6041h) returns the status of the
MDrivePlus CANopen.
State Machine
The State Machine describes the status and control sequence of the MDrivePlus CANopen and specifies the Initialization sta-
tus, the Pre-Operational status, the Operational status, and the Stopped status. See Figure 1.2 for a diagrammatic representa-
tion of State machine states and state transitions.
State Machine States
State Status Description
Not Ready to Switch On Low Level Power Applied.
The drive is being initialized or is running a self test.
A brake, if present, is applied in this state.
The drive function is disabled.
Switch On Disabled Drive Initialization is complete.
The drive parameters have been set up.
Drive parameters may be changed.
High Voltage may not be applied to the drive.
The drive function is disabled.
Ready To Switch On High Voltage may be applied to the drive.
The drive parameters may be changed.
The drive function is disabled.
Switched On High Voltage has been applied to the drive.
The Power Amplifier is ready.
The drive parameters may be changed.
The drive function is disabled.
Operation Enable No faults have been detected.
The drive function is enabled and power is applied to the motor.
The drive parameters may be changed.
(This corresponds to normal operation of the drive.)
Quick Stop Active The drive parameters may be changed.
The Quick Stop function is being executed.
The drive function is enabled and power is applied to the motor.
NOTE: If the ‘Quick-Stop-Option-Code’ is switched to 5 (Stay in Quick-Stop), the
MDrivePlus cannot exit the Quick-Stop-State, but you can transmit to ‘Operation
Enable’ with the command ‘Enable Operation’.
Fault Reaction Active
SUPPORT UNDER
DEVELOPMENT
The drive parameters may be changed.
A non-fatal fault has occurred in the drive.
The Quick Stop function is being executed.
The drive function is enabled and power is applied to the motor.
Fault
SUPPORT UNDER
DEVELOPMENT
The drive parameters may be changed.
A fault has occurred in the drive.
The drive function is disabled.
DEVICE CONTROL
State Machine
Controlword 6040h
Profile Position
Profile Velocity
Modes of Operation
6060h
Statusword
6041h
Figure 4.1: Device Control
Table 4.1: State Machine States