Technical Manual N5 (CANopen)
5 General concepts
Ready to switch on
Transition to the Ready to switch on state (shutdown option):
In this case, the action stored in object 605B
h
is executed (see following table).
Value in object 605B
h
Description
-32768 … -1 Reserved
0 Immediate stop
1 Braking with slow down ramp (braking deceleration depending on
operating mode) and subsequent state change to Switch on disabled
2 … 32767 Reserved
Switched on
Transition to the Switched on state (disable operation option):
In this case, the action stored in object 605C
h
is executed (see following table).
Value in object 605C
h
Description
-32768 … -1 Reserved
0 Immediate stop
1 Braking with slow down ramp (braking deceleration depending on
operating mode) and subsequent state change to Switch on disabled
2 … 32767 Reserved
Halt
The bit is valid in the following modes:
• Profile Position
• Velocity
• Profile Velocity
• Profile Torque
• Interpolated Position Mode
When setting bit 8 in object 6040
h
(controlword), the reaction stored in 605D
h
is executed (see
following table):
Value in object 605D
h
Description
-32768 … 0 Reserved
1 Braking with slow down ramp (braking deceleration depending on
operating mode)
2 Braking with quick stop ramp (braking deceleration depending on
operating mode)
3 … 32767 Reserved
Fault
Case of an error (fault):
If an error occurs, the motor will brake according to the value stored in object 605E
h
.
Version: 2.0.1 / FIR-v1650 49
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