Emotron VS10 - Device Profile Cia 402

10.10. Device profile CiA 402
The CiA® 402 device profile defines the functional behaviour of stepping motors, servo
drives, and frequency inverters. In order to be able to describe the different drive types,
various operating modes and device parameters are specified in the device profile. Each
operating mode provides objects (e.g. for the setpoint speed, acceleration and
deceleration) to generate the desired drive behaviour.
Details
The CiA 402 operating mode "CiA: Velocity mode" is activated by the setting 0x6060
(P301.00) = "CiA: Velocity mode [2]".
More details can be found in the CiA 402 specification (CANopen device
profile for drives and Motion Control) of the CAN in Automation (CiA) user
organisation.
http://www.can-cia.org
CiA® is a registered community trademark of the CAN in Automation e. V user
organisation.
Parameter
Name / value range / [default setting]
Info
0x6042
(P781.00)
Target velocity
(Target velocity)
-32768 ... [0] ... 32767 rpm
Setpoint speed (velocity mode).
0x6043
(P782.00)
Velocity demand
(Velocity demand)
Read only: x rpm
Display of the setpoint velocity (velocity mode).
0x6044
(P783.00)
Velocity actual value
(Velocity actual)
Read only: x rpm
Display of the actual speed (velocity mode).
0x6046:001
(P784.01)
Velocity min max amount: Velocity min amount
(Vel. min max: Vel. min amount)
0 ... [0] ... 480000 rpm
Minimum speed (velocity mode).
0x6046:002
(P784.02)
Velocity min max amount: Velocity max amount
(Vel. min max: Vel. max amount)
0 ... [2147483647] ... 2147483647 rpm
Maximum speed (velocity mode).
0x6048:001
(P785.01)
Velocity acceleration: Delta speed
(Vel.acceleration: Delta speed)
0 ... [3000] ... 2147483647 rpm
Acceleration: speed interval
0x6048:002
(P785.02)
Velocity acceleration: Delta time
(Vel.acceleration: Delta time)
0 ... [10] ... 65535 s
Acceleration: time interval
0x6049:001
(P786.01)
Velocity deceleration: Delta speed
(Vel.deceleration: Delta speed)
0 ... [3000] ... 2147483647 rpm
Deceleration: speed interval
0x6049:002
(P786.02)
Velocity deceleration: Delta time
(Vel.deceleration: Delta time)
0 ... [10] ... 65535 s
Deceleration: time interval
0x605A
Quick stop option code
Device status after exiting the quick stop ramp.
Setting is only effective in the operating mode 0x6060 (P301.00) =
"CiA: Velocity mode [2]".
2
Quick stop ramp -> switch-on inhibited
Automatic change to the "Switch-on inhibited" device state.
The "Quick stop active [54]" status is reset to FALSE after ramp-down
to
standstill.
6
Quick stop ramp -> quick stop active
The inverter remains in the "Quick stop active" device state.
The "Quick stop active [54]" status remains TRUE until the "Quick
stop" function is activated.
0x605E
(P791.00)
Fault reaction option code
(Fault reaction)
Selection of the response to faults.
-2
DC braking
The motor is brought to a standstill by means of the "DC braking"
function.
 DC braking

262
0
Coasting
The motor becomes torqueless (coasts down to standstill).