CANopen DSP 402 Implementation Guide
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State Transition 4: SWITCHED ON => OPERATION ENABLE
Event: Enable Operation command received from host.
Action: The drive function is enabled.
State Transition 5: OPERATION ENABLE => SWITCHED ON
Event: Disable Operation command received from host.
Action: The drive operation is disabled.
State Transition 6: SWITCHED ON => READY TO SWITCH ON
Event: Shutdown command received from host.
Action: The power section is switched off.
State Transition 7: READY TO SWITCH ON => SWITCH ON DISABLED
Event: Quick Stop and Disable Voltage commands received from host.
Action: None.
State Transition 8: OPERATION ENABLE => READY TO SWITCH ON
Event: Shutdown command received from host.
Action: The power section is switched off immediately, and the motor is free to rotate if not braked.
State Transition 9: OPERATION ENABLE => SWITCH ON DISABLED
Event: Disable Voltage command received from host.
Action: The power section is switched off immediately, and the motor is free to rotate if not braked.
State Transition 10: SWITCHED ON =>SWITCH ON DISABLED
Event: Disable Voltage or Quick Stop command received from host.
Action: The power section is switched off immediately, and the motor is free to rotate if not braked.
State Transition 11: OPERATION ENABLE =>QUICK STOP ACTIVE
Event: Quick Stop command received from host.
Action: The quick stop function is executed.
State Transition 12: QUICK STOP ACTIVE=>SWITCH ON DISABLED
Event: Quick Stop completed or Disable Voltage command received from host. This transition is possible if the quick stop option code is higher than 5 (stay in QUICK STOP ACTIVE state).
Action: The profile generator finished the deceleration and the motor is disabled.
State Transition 13: All => FAULT REACTION ACTIVE
Event: A fault has occurred in the drive.
Action: Execute appropriate fault reaction.
State Transition 14: FAULT REACTION ACTIVE => FAULT
Event: The fault reaction is completed.
Action: The drive function is disabled. The power section may be switched off.
State Transition 15: FAULT=>SWITCH ON DISABLED
Event: Fault Reset command received from host.
Action: The fault condition is reset if no fault currently exists in the drive.
