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Method A: Use your own controller (e.g. PLC)
6.a
Start CANopen node:
Send NMT start to SWD node (0x10):
CAN-ID
Length
000
2
h
h
NB: SWD® CAN led should be solid green. SWD® heartbeat (CAN-ID 0x710
7.a
Enable Power Drive System FSA
The 'Controlword' object 0x6040:00, is used for controlling the drive.
The 'Statusword' object 0x6041:00, is used to observe its state.
Statusword value
State
00 28
Fault
h
00 08
h
00 40
Switch on disabled
h
00 60
h
00 21
Ready to switch on
h
00 23
Switched on
h
00 27
Operation enabled
h
00 07
Quick stop
h
NB: SWD® Status led should be solid green. If it is red, a STO is activated. Release the emergency stop or check
your STO wiring.
SDO request Statusword value:
Request
Response
Where 'XX' represents the first 8-bits value of the Statusword.
SDO write controlword object:
Command
'Reset Fault'
Go to 'Ready to switch on'
Go to 'Switched on'
Go to 'Operation enabled'
Halt
8.a
Send velocity commands:
Write the desired target velocity in 0x6042:00 'vl_target_velocity':
Speed
(RPM on motor shaft)
012A
= 298
h
d
FED6
= -298
h
d
0578
= 1400
h
d
FA88
= 1400
h
d
40
Cf. CiA 402 Machine à états
Version 2.0.2_FR – 31/10/2023 - SWD®
Or Broadcast NMT start to all nodes:
Data
CAN-ID
01 10
000
h
40
, by sending relevant commands.
Command
'Reset Fault' (If necessary):
Go to 'Ready to switch on'
Go to 'Switched on'
Go to 'Operation enabled'
Go to 'Operation enabled'
CAN-ID
610
h
590
h
CAN-ID
610
h
610
h
610
h
610
h
610
h
CAN-ID
610
h
610
h
610
h
610
h
NOTICE D'INSTRUCTION
Length
2
h
h
) should display value 05
h
Controlword value:
00 80
00 06
00 07
00 0F
00 0F
Length
Data
8
40 41 60 00 00 00 00 00
h
8
4B 41 60 00 XX 00 00 00
h
Length
Data
8
2B 40 60 00 80 00 00 00
h
8
2B 40 60 00 06 00 00 00
h
8
2B 40 60 00 07 00 00 00
h
8
2B 40 60 00 0F 00 00 00
h
8
2B 40 60 00 40 00 00 00
h
Length
Data
8
2B 42 60 00 2A 01 00 00
h
8
2B 42 60 00 D6 FE FF FF
h
8
2B 42 60 00 78 05 00 00
h
8
2B 42 60 00 88 FA FF FF
h
SWD®
Data
01 00
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
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