Issue 01/05 Data transfer using CANopen
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
57
This means that it is not possible to stop the drive using the stop bit of the
CANopen control word. Bits 4, 5 and 6 are specific to the operation mode and only
exist in the velocity mode.
The bit combinations which result in the various state machine transitions are
shown in the following table.
Table 3-16 Device control commands
Command/ Bit
of the control
word
Bit 7
Fault
reset
Bit 3
Enable
operation
Bit 2
Quicksto
p
Bit 1
Switch-
on
voltage
(enable
voltage)
Bit 0
Switch-
on
Transitions
Shutdown 0 X 1 1 0 2,6,8
Switch on 0 X 1 1 1 3
Disable voltage 0 X X 0 X 7,9,10,12
Quick stop 0 X 0 1 X 7,10,11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4
Fault reset
⇑
X X X X 15
3.3.2 CANopen status word
The CANopen status word is used to define the drive status according to the state
machine described above. Especially after a transition, by sending the CANopen
control word from the master to the drive, it can be identified as to whether the
change (transition) was correctly executed.
In order to transfer the CANopen status word to the appropriate internal
parameters, parameter P0700 (object:0x22BC*) must be set to 6.
The MICROMASTER status word (r0052, corresponds to object 0x20034*) is sent
to the CANopen option module via the BICO connection with P2051.00 (object
0x2803*). There, it is converted into the CANopen status word.
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