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ASDA-A3

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CANopen Mode

State transition can be achieved with the Controlword (OD 6040h). The commands are as

follows:

Command

Shutdown

Switch on

Switch on +

Enable operation

Disable voltage

Quick stop

Disable operation

Enable operation

Bit 7

0

0

0

0

0

0

0

Bit of OD 6040h

Bit 3 Bit 2 Bit 1

X

1

1

0

1

1

1

1

1

X

X

0

X

0

1

0

1

1

1

1

1

Bit 0

0

1

1

X

X

1

1

Transition

2, 6, 8

3

3 + 4

7, 9, 10, 12

7, 10, 11

5

4, 16

Fault reset

X

X

X

X

15

12

Object 6041h: Statusword

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

6041h

Statusword

VAR

UNSIGNED16

RO

Yes

UNSIGNED16

0

Object function:

The Statusword contains many statuses, such as Servo On, command statuses, fault signal,

and quick stop. The state machine architecture is as follows:

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 5

Bit 6

Bit 7

Bit 8

Bit 9

Bit 10

Bit 11

Status

Ready to switch on Ready to be activated

Switched on

Servo ready

Operation enabled Servo On

Fault

Fault signal

Voltage enabled Servo is powered on

Quick stop

Quick stop

Switch on disabled Servo disabled

Warning

Warning signal

Reserved

Remote

Target reached

Reserved

-

Remote control

Target reached

-

Description

Bit 0 - Bit 6: current status of

the servo drive (see the

following table for details).

When outputting the warning

signal, the servo keeps

outputting the Servo On

signal.

-

-

-

-

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