IL•1F CANopen DS301 | 6 Operation |
6.3Changing operating states with PDO4
The product operates in different operating states. The individual oper- ating states are numbered from 1 to 9 . The operating states and the transition conditions are described in more detail in the product manual, chapters "Basics" and "Operation".
Operating | Name | Power | Description |
state |
| stage |
|
|
|
|
|
4 | Ready To Switch On | off | Passive operating state, |
|
|
| motor without current |
|
|
|
|
6 | Operation Enable | on | Active operating state, current |
|
|
| available to motor |
|
|
|
|
7 | Quick Stop active | on | Fault state, power stage |
|
|
| remains enabled |
|
|
|
|
9 | Fault | off | Fault state, power stage is |
|
|
| disabled |
|
|
|
|
Table 6.1 Important operating states
Requests for switching operating states are transmitted to the product in R_PDO4 in the field drivectrl. The product signals the current oper- ating state back to the master in T_PDO4, field driveStat.
Table 6.2 shows the bit assignment of the field drivectrl in the object
R_PDO4:
Bit no. | Value | Meaning |
0 | 01h | Disable |
1 | 02h | Enable |
2 | 04h | Quick Stop |
3 | 08h | Fault Reset |
4 | 10h | Quick Stop release |
Table 6.2 R_PDO4, drivectrl, bit assignment
0198441113586, V2.01, 11.2008
Fieldbus interface | 63 |
