CANopen Programmer's Manual - Maccon.de

3: Device Control, Configuration, and Status CANopen Programmer’s Manual
…State Changes Diagram Legend, continued:
From State To State Event/Action
9 Operation Switch On Event: 'Disable Voltage' command received from host.
Enable Disabled Action: The power section is switched off immediately, and the motor is free to
rotate if unbraked
10 Switched On Switch On
Disabled
11 Operation
Enable
12 Quick Stop
Active
Quick Stop
Active
Switch On
Disabled
13 FAULT Fault
Reaction
Active
14 Fault
Reaction
Active
15 Fault Switch On
Disabled
16 Quick Stop
Active
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
Event: 'Quick Stop' command received from host.
Action: The Quick Stop function is executed.
Event: 'Quick Stop' is completed or 'Disable Voltage' command received from
host. This transition is possible if the Quick-Stop-Option-Code is not 5 (Stay in
Quick-Stop)
Action: The power section is switched off.
A fatal fault has occurred in the drive.
Action: Execute appropriate fault reaction.
Fault Event: The fault reaction is completed.
Operation
Enable
Action: The drive function is disabled. The power section may be switched off.
Event: 'Fault Reset' command received from 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 Control Word has to be
cleared by the host.
Event: 'Enable Operation' command received from host. This transition is
possible if the Quick-Stop-Option-Code is 5, 6, 7, or 8 (see the Quick Stop
Option Code object, index 0x6085, p. 63).
Action: The drive function is enabled.
56 Copley Controls