Table 7.8 CoE state machine transition and events
Transition | Event(s) | Action(s) |
0 | Automatic transition after | Drive device |
| reset application | initialisation shall be performed |
|
|
|
1 | Automatic transition | Communication shall be activated |
2 | Shutdown command from control | None |
| device or local signal |
|
|
|
|
3 | Switch on command received from | Power section shall be switched on if |
| control device or local signal | not already switched on |
|
|
|
4 | Enable operation command received | Drive function shall be enabled and |
| from control device or local signal | clear all internal |
5 | Disable operation command received | Drive function shall be disabled |
| from control device or local signal |
|
|
|
|
6 | Shutdown command received from | The |
| control device or local signal | immediately, and the motor shall be free |
|
| to rotate if not braked; additional action |
|
| depends on the shutdown option code |
7 | Quick stop or disable voltage command | None |
| from control device or local signal |
|
|
|
|
8 | Shutdown command from control | The |
| device or local signal | immediately if possible, and the motor |
|
| shall be free to rotate if not braked |
|
|
|
9 | Disable voltage command from control | The |
| device or local signal | immediately if possible, and the motor |
|
| shall be free to rotate if not braked |
|
|
|
10 | Disable voltage or quick stop command | The |
| from control device or local signal | immediately if possible, and the motor |
|
| shall be free to rotate if not braked |
|
|
|
11 | Quick stop command from control | The quick stop function shall be started |
| device or local signal |
|
|
|
|
12 | Automatic transition when the quick | The power section shall be switch off |
| stop function is completed and quick |
|
| stop option code 1, 2, 3 or 4 disable |
|
| voltage command received from control |
|
| device (dependant on the quick stop |
|
| option code) |
|
|
|
|
13 | Fault signal | The configure fault reaction function |
|
| shall be executed |
14 | Automatic transition | The drive function shall be disabled; the |
|
| |
|
|
|
15 | Fault reset command from control | A reset of the fault condition is carried |
| device or local signal | out, if no fault exists currently on the |
|
| drive device; after leaving the Fault |
|
| state, the Fault reset bit in the |
|
| controlword shall be cleared by the |
|
| control device |
|
|
|
16 | Enable operation command from control | The drive function shall be enabled |
| device, if the quick stop option code is |
|
| 5, 6, 7 or 8 |
|
32 | |
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