CONTENTS Drives and Motion Control CiA DSP 402 V 2.0
4
9.3.14 Object 6510
h
: Drive data ........................................................................41
9.3.15 Object 60FD
h
: Digital inputs....................................................................42
9.3.16 Object 60FE
h
: Digital outputs..................................................................42
10 DEVICE CONTROL..............................................................................................44
10.1 General information .....................................................................................44
10.1.1 State machine .......................................................................................45
10.2 Object dictionary entries...............................................................................48
10.2.1 Objects defined in this chapter................................................................48
10.3 Object description........................................................................................49
10.3.1 Object 6040
h
: Controlword......................................................................49
10.3.2 Object 6041
h
: Statusword .......................................................................50
10.3.3 Object 605B
h
: Shutdown option code ......................................................52
10.3.4 Object 605C
h
: Disable operation option code...........................................53
10.3.5 Object 605A
h
: Quick stop option code .....................................................53
10.3.6 Object 605D
h
: Halt option code...............................................................54
10.3.7 Object 605E
h
: Fault reaction option code.................................................55
10.3.8 Object 6060
h
: Modes of operation ...........................................................55
10.3.9 Object 6061h
:
Modes of operation display ...............................................56
10.4 Functional description ..................................................................................57
10.4.1 Modes of operation function....................................................................57
10.4.2 Drive disabling function ..........................................................................58
10.4.3 Quick stop function ................................................................................58
10.4.4 Stop function .........................................................................................58
10.4.5 Fault reaction ........................................................................................59
11 FACTOR GROUP ................................................................................................60
11.1 General information .....................................................................................60
11.1.1 Factors..................................................................................................60
11.1.2 Relationship between physical and internal units......................................60
11.2 Object dictionary entries...............................................................................61
11.2.1 Objects defined in this chapter................................................................61
11.3 Object description........................................................................................61
11.3.1 Object 6089
h
: Position notation index ......................................................61
11.3.2 Object 608A
h
: Position dimension index ..................................................62
11.3.3 Object 608B
h
: Velocity notation index......................................................63
11.3.4 Object 608C
h
: Velocity dimension index ..................................................63
11.3.5 Object 608D
h
: Acceleration notation index...............................................64
11.3.6 Object 608E
h
: Acceleration dimension index............................................64
11.3.7 Object 608F
h
: Position encoder resolution ...............................................65
11.3.8 Object 6090
h
: Velocity encoder resolution................................................66
11.3.9 Object 6091
h
: Gear ratio.........................................................................67
11.3.10 Object 6092
h
: Feed constant.............................................................68
11.3.11 Object 6093
h
: Position factor.............................................................69
11.3.12 Object 6094
h
: Velocity encoder factor................................................70
11.3.13 Object 6095
h
: Velocity factor 1..........................................................71
11.3.14 Object 6096
h
: Velocity factor 2..........................................................72
11.3.15 Object 6097
h
: Acceleration factor ......................................................73
11.3.16 Object 607E
h
: Polarity ......................................................................74
12 PROFILE POSITION MODE.................................................................................75
12.1 General information .....................................................................................75
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