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0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 3 Basics
Fieldbus interface 35
3.4.2.2 Receive PDO R_PDO4 (master -> slave)
The master device can execute the following actions via the PDO4 chan-
nel to the slave:
• Control the state machine of the slave
– Enable/disable the power stage of the product
– Trigger and reset a "Quick Stop"
– Resetting faults
• Toggle the operating modes
– Profile Position operating mode, absolute and relative
– Profile Velocity operating mode
– Reference movement
– Position setting
• Set reference values
– Reference position
– Reference speed
– Type of reference movement
Structure of R_PDO4:
Figure 3.19 Structure of R_PDO4
Ref32 -> reference 32 bits - e.g. position
Ref16 -> reference 16 bits - e.g. velocity
modeCtrl
driveCtrl
21 43 65 87
Byte
67 45 23 01
00 QR0 QSFR DIEN
Disable
Enable
Quickstop
Fault Reset
Quickstop Release
driveCtrl - 8 Bits
Bit
67 45 23 01
MT ACTION 0 MODE
Requested Mode
Action within Mode
Mode Toggle
modeCtrl - 8 Bits
Bit