CiA402 profile
bStep 2
•Check that the drive is in the "3 - Ready to switch on" state.
•Then send the "4 - Enable operation" command.
•The motor can be controlled (send a reference not equal to zero).
Bus or network
Power section line supply
DRIVE
M
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| 13 | ||
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| Entry into state chart |
| 7 | Fault reaction | |||||||||||||||
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| active | ||
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| 14 | ||
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| 1 | Not ready to |
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| switch on |
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| 8 |
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| 1 |
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| 2 |
| Switch on |
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| disabled |
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| Switch on 2 |
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| Disable voltage |
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| 7 |
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| or Quick stop |
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| 3 |
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| Ready to |
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| Disable voltage |
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| Disable |
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| switch on |
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| or Quick stop |
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9 |
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| 12 | |||
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| voltage |
| Switch on | 3 |
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| 6 Shutdown |
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| 4 |
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| Switched on |
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| Shutdown8 |
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| Enable |
| 4 |
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| Disable |
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| 5 |
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| operation |
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| operation |
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| 5 |
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| Operation |
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| 11 |
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| 6 |
| Quick stop | ||||||
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| enabled |
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| active | ||||||||
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| Quick stop |
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Note: It is possible, but not necessary, to send the "3 - Switch on" command and then the "4 - Enable Operation" command to go successively into the states "3 - Ready to Switch on", "4 - Switched on" and then "5 - Operation Enabled".
The "4 - Enable operation" command is sufficient.
27