ABB REPL-01 User Manual

Contents

Communication profiles28coded instructions in the Control Word, and returns statusinformation to the master in the Status Word.Supported mode of operationThe DSP 402 profile offers a choice of several modes ofoperation. These modes define the operation of the drive.The REPL-01 supports the Velocity mode, which is a basicoperation mode used to control the velocity of the drive.Control Word and Status Word of the DSP 402 profileThe functionality of the Control Word is described in tables ControlWord of DSP 402 below and Operation of bits 0Ö3 and 7 of theDSP 402 Control Word on page 29. The functionality of the StatusWord is described in table Status Word of DSP 402 on page 30.The Control Word can be found in object 0x6040 (hex) and theStatus Word in object 0x6041 (hex) (see chapter CANopen objectdictionary page 51).Control Word of DSP 402Bit Name Value Description0 Switch ON The functionality of bits 0Ö3 and 7 aredescribed in table Operation of bits 0Ö3and 7 of the DSP 402 Control Word onpage 29.1 Enable voltage2 Quick stop3 Enable operation4 Ramp functiongenerator enable.0 Force ramp function generator output tozero. Drive ramps to stop (current and DCvoltage limits in force).1 Normal operation: Velocity reference isthe output value of the ramp functiongenerator.5 Ramp functiongenerator unlock.0 Ramp function generator output value islocked to the current output value.1 Normal operation: Ramp output valuefollows ramp input value.Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com