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ASDA-A3

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CANopen Mode

Object function:

The Controlword contains many functions, such as Servo On, command triggering, fault reset,

and quick stop.

The state machine architecture is as follows:

12

Controlword (OD 6040h)

State Machine

Statusword (OD 6041h)

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Bit

Bit 0

Bit 1

Bit 2

Bit 3

Bit 4 - Bit 6

Bit 7

Bit 8

Bit 9 - Bit 15

Function

Switch on

Enable voltage

Quick stop (B contact (NC))

Enable operation

Defined in each operation mode

Fault reset

Halt

Reserved

Description

Ready for Servo On.

-

-

Servo On.

These bits are individually defined

according to the operation mode,

as shown in the following table.

-

-

-

Bits 4 - 6 are individually defined according to the operation mode, as shown in the following

table:

Definition in each operation mode

Bit

Profile Position mode

Homing mode

Profile Velocity mode

Profile Torque mode

Interpolated Position mode

Bit 4

Command triggering

(rising-edge triggered)

Homing

(rising-edge triggered)

-

Bit 5

Function for the command to take

immediate effect

-

-

Bit 6

0: absolute position command

-

-

1: relative position command

Note: - indicates the bit is invalid.

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