CANopen DSP 402 Implementation Guide
States may be changed using the controlword and/or according to internal events. The current state can be read using the statusword.
21
controlword
(6040h)
State Machine
statusword
(6041h) Actions
Internal Events
Figure 6-2: State Machine in System Context
The device states and possible control sequence of the drive are described by the state machine, as depicted in the following figure:
Power |
|
|
|
| Fault | 13 |
Disabled |
|
|
|
|
| |
| Start |
|
|
|
| FAULT REACTION |
|
|
|
|
| ACTIVE | |
|
|
|
|
|
| |
| 0 |
|
|
|
| 14 |
| NOT READY TO |
|
|
| NOT READY TO | |
| SWITCH ON |
|
|
| SWITCH ON | |
| 1 |
|
|
|
| 15 |
|
|
|
|
|
| |
| SWITCH ON |
|
|
|
| |
| DISABLED |
|
|
|
|
|
| 2 | 7 |
|
|
|
|
| READY TO |
|
|
|
| |
| SWITCH ON |
|
|
|
| |
Power | 3 | 6 | 10 | 12 |
|
|
Enabled |
|
|
|
|
|
|
| SWITCHED ON |
|
|
|
| |
9 | 8 |
|
|
|
|
|
| 4 | 5 |
|
|
|
|
| OPERATION |
| 11 |
| QUICK STOP | |
| ENABLE |
|
| 16 |
| ACTIVE |
