26 MDrivePlus CANopen R020507

State Machine Transitions

Transition
Number From State To State Event/Action
0Start Not Ready To Switch
On
Event: Reset.
Action: The drive self-tests and/or self-initializes.
1Not Ready To
Switch On Switch On Disabled
Event: The drive has self-tested and/or initialized
successfully.
Action: Activate communication and process data
monitoring
2Switch On Disabled Ready to Switch On Event: ‘Shutdown’ command received from host.
Action: None.
3Ready to Switch On Switched On
Event: ‘Switch On’ command received from host.
Action: The power section is switched on if it is not
already switched on.
4Switched On Operation Enable Event: ‘Enable Operation’ command received from host.
Action: The drive function is enabled.
5Operation Enable Switched On Event: ‘Disable Operation’ command received from
host.
Action: The drive operation will be disabled.
6Switched On Ready to Switch On Event: ‘Shutdown’ command received from host.
Action: The power section is switched off.
7Ready to Switch On Switch On Disabled Event: ‘Quick stop’ command received from host.
Action: None
8Operation 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 unbraked
9Operation 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 unbraked
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 unbraked
11 Operation Enable Quick Stop Active Event: ‘Quick Stop’ command received from host.
Action: The Quick Stop function is executed.
12 Quick Stop Active Switch On Disabled Event:
‘Quick Stop’ is completed or ‘Disable Voltage’
command received from host. This transition
is possible, if the Quick-Stop-Option-Code is
different 5 (Stay in Quick-Stop)
Action: The power section is switched off.
13 All States Fault Reaction
Active
Event: A fault has occured in the drive.
Action: Execute appropriate fault reaction.
14 Fault Reaction
Active Fault
Event: Fault reaction is completed.
Action: The drive function is disabled, the power section
may be switched off.
15 Fault Switch On Disabled
Event: ‘Fault Reset’ command is recieved from the host.
Action:
A reset of the fault condition is carried out if no
fault exists currently on the drive. After leaving
the ‘Fault’ state the Bit ‘Fault Reset’ of the
controlword has to be cleared by
the host.
16 Quick Stop Active Operation Enable Event:
‘Enable Operation’ command received from
host. This transition is possible if the Quick-Stop-
Option-Code is 5,6,7 or 8.
Action: The drive function is enabled
Table 4.2: State Machine Transitions