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58 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors

3.5 CiA® DSP-402 drive profile

WARNING !!! When using the CiA402 objects it is NOT recommended to

change motor registers in Mactalk, or by object 0x2012/0x2013, as changes

there are NOT reflected in the CiA402 objects.

3.5.4 Supported features in Control word (object 0x6040).

3.5.5 Supported features in Status word (object 0x6041).

Bit Meaning Supported

0Switchon Yes

1Enablevoltage Yes

2Quickstop Yes

3Enableoperation Yes

4Operationmodespecific Yes(HM:Starthoming/PP:Newsetpoint)

5Operationmodespecific Yes(PP:Changesetimmediately)

6Operationmodespecific ‐

7Faultreset Yes

8Halt Yes

9Operationmodespecific ‐

10 Reserved ‐

11‐15 Nanufacturerspecific ‐

Bit Meaning Supported

0Readytoswitchon Yes

1Switchon Yes

2Operationenabled Yes

3Fault Yes

4Voltageenabled Yes

5Quickstop Yes

6Switchondisabled Yes

7Warning Yes(OnlyinMIS/MILxxx)

8Manufacturer

specific ‐

9Remote ‐

10 Operationmodespecific Yes(Targetreached/Statustoggle)

11 Internallimitactive Yes(OnlyinMIS/MILxxx=Position limitactive)

12 Operationmodespecific Yes(Homingdone/Setpointack/Drivefollowsthe

commandvalue)

13 Operationmodespecific Yes(Followingerror)

14‐15 Manufacturerspecific ‐