Communication Profiles; Changed (Page 64): Supported Modes Of Operation; Changed (Page 70): Control Word And Status Word Of The Cia 402 Profile - ABB EtherCAT FECA-01 Manual Del Usuario

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Communication profiles

CHANGED (page 64): Supported modes of operation

The CiA 402 profile offers several modes of operation. These modes define the operation of the
drive. The CiA 402 operation modes are supported by the drives as follows:
Operation ACSM1
mode motion
Velocity mode vl
Profile torque tq
mode
Profile velocity pv
mode
Profile position pp
mode
Homing mode hm
Cyclic cst
synchronous
torque mode
Cyclic csv
synchronous
velocity mode
Cyclic csp
synchronous
position mode
Note: Drive synchronization is supported only with ACSM1 drives.
In this section, the scalings of the reference and actual values are described for each operation
mode. Operation mode -specific objects are defined in
current operation mode is displayed in object 0x6061, and it can be changed using object
0x6060.
CHANGED (page 70): Control word and Status word of the
CiA 402 profile
The following table describes the functionality of the Status word of the CiA 402 profile:
Bit Name
0 Ready to switch on
1 Switched on
2 Operation enabled
3 Fault
ACSM1 ACS850 ACS355 ACS880 ACS580
speed
vl vl
tq tq
pv pv pv
cst cst cst
csv csv
Value Description
0 Not ready to switch on
1 Ready to switch on
0 Not switched on
1 Switched on
0 Operation not enabled
1 Operation enabled
0 No fault
1 Fault
vl vl vl
tq tq tq
pv pv
cst cst
csv
Appendix A – CoE Object Dictionary. The