CANopen DSP 402 Implementation Guide
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After leaving FAULT state, the Fault Reset bit of the controlword must be cleared by the host. The drive does not monitor this bit in other states. If this bit is not cleared from a previous fault state, when the next fault occurs, the drive automatically enters SWITCH ON DISABLED state with no indications or warning.
State Transition 16: QUICK STOP ACTIVE=>OPERATION ENABLE
Event: Enable Operation command received from host. This transition is possible if the quick stop option code (object 0x605A) is 5, 6.
Action: The drive function is enabled.
Notes:
This transition forces a “motion begin”; for example, if the controlword forces transition 11 during a home sequence, the motor will stop according to the quick stop option code. If a new homing speed and homing acceleration are set to the drive and the controlword sets transition 16, the home sequence will continue according to the method and with the new home parameters.
If the motor is turned off by an external source (such as the interpreter) during OPERATION ENABLE, the minimum state SWITCH ON ENABLE will merge with no further notification.
Important Notes about State Transition:
If a command that causes a change of state is received, it is processed completely and the new state is attained before the next command is processed.
The drive performs transitions 0 and 1 after initiation, either at power up or at NMT node reset. From this state, it is up to the host to change the transitions according to the application needs.
“Drive function is disabled” implies that no energy is being supplied to the motor. Reference values are not processed.
“Drive function is enabled” implies that energy can be supplied to the motor. The reference values (torque, velocity and position) are processed.
“Fault occurred” implies that a fault has occurred in the drive during “Operation Enable”. In this case, there is a transition to state FAULT REACTION ACTIVE, during which the device executes a motor disable function. After executing this fault reaction, the device switches to state FAULT. It is possible to leave this state only through the Fault Reset command, and only if the fault is not active anymore.
If a fault occurs in OPERATION ENABLE state, an emergency message – if not masked – is sent with the fault reason. The last 16 fault messages are latched and can be retrieved later by uploading object 0x1003, defined in
In a fault state, setting MO=1 through methods other than the controlword activates the motor and leads to an ambiguous state of the DSP 402 protocol.