Emerson 0471-0128-02 manual

The behavior of the sequencing control is shown in Figure 7-1CoE state machine diagram . This state machine indicates how the drive will be controlled. For clarity the Statusword is abbreviated to ‘SW’ in the diagram.

When in the ‘QUICK STOP ACTIVE’ state, the currently selected mode of operation indicates how a quick stop function should be handled. When the drive is stopped, and the Quick stop option code doesn’t indicate that the state should remain at ‘QUICK STOP ACTIVE’, the state will move to ‘SWITCH ON DISABLED’.

When in the ‘OPERATION ENABLED’ or ‘QUICK STOP ACTIVE’ states it is not possible to change the mode_of_operation object. This is to ensure that the motor is stopped before changing the operation mode.

The SM-EtherCAT master device must be in the operational state before the state machine can move from the ‘SWITCH ON DISABLED’ state to the ‘READY TO SWITCH ON’ state. If the master leaves the operational state while the state machine is in the ‘SWITCH ON’, ‘OPERATION ENABLE’ , ‘QUICK STOP ACTIVE’ or ‘READY TO SWITCH ON’ state then the option will transition to the ‘SWITCH ON DISABLED’ state. This implies that the drive will be inhibited and the motor will coast.

30	SM-EtherCAT User Guide
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