CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 3: Device Control, Configuration, and Status
State Changes Diagram
Diagram
The following diagram from the CANopen Profile for Drives and Motion Control (DSP 402) shows
the possible state change sequences of an amplifier. Each transition is numbered and described
in the legend below.
State Changes Diagram Legend
From State To State Event/Action
0 Startup Not Ready to
Switch On
1 Not Ready to
Switch On
2 Switch On
Disabled
3 Ready to
Switch On
Switch On
Disabled
Ready to
Switch On
4 Switched On Operation
Enable
5 Operation
Enable
6 Switched On Ready to
Switch On
7 Ready to
Switch On
8 Operation
Enable
Continued….
Event: Reset.
Action: The drive self-tests and/or self-initializes.
Event: The drive has self-tested and/or initialized successfully.
Action: Activate communication and process data monitoring
Event: 'Shutdown' command received from host.
Action: None
Switched On Event: 'Switch On' command received from host.
Action: The power section is switched on if it is not already switched on.
Event: 'Enable Operation' command received from host.
Action: The drive function is enabled.
Switched On Event: 'Disable Operation' command received from host.
Switch On
Disabled
Ready to
Switch On
Action: The drive operation is disabled.
Event: 'Shutdown' command received from host.
Action: The power section is switched off.
Event: 'Quick stop' command received from host.
Action: None
Event: 'Shutdown' command received from host.
Action: The power section is switched off immediately, and the motor is free to
rotate if unbraked
Copley Controls 55