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CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
26
Illegal Transition
After initiation of a drive by either power on or NMT node reset, the drive automatically
performs transitions 0 and 1 to the SWITCH ON DISABLED state. The controlword can
then be used to cause any of the transitions defined previously. If a transition is illegal
(such as requesting a QUICK STOP in a FAULT state), the controlword is rejected with
abort code 0609 0030, “Value range of parameter exceeded.” If an RPDO is used to
control the drive, an RPDO style emergency is transmitted with the error code. The
emergency structure and meaning is illustrated in the
SimplIQ CANopen Implementation
Manual. This emergency can be masked in accordance with object 2F21h. In case of an
illegal transition, bit 7 in the statusword (warning) is set for at least the next
transmission of this statusword. The bit is after a legal transition of the controlword.
The resolution for statusword transmission is approximately 3 milliseconds. Events
that are modified during this time are sensed and responded to, but no notification
of them is made by the statusword.
Object 0x6040: Controlword
The controlword contains bits for:
Controlling the state
Controlling operating modes
Manufacturer-specific options
Object description:
Index 6040h
Name Controlword
Object code VAR
Data type UNSIGNED16
Category Mandatory
Entry description:
Access Read/write
PDO mapping Possible
Value range UNSIGNED16
Default value No