Estun Summa Series - Chapter 12 Appendix; Interpolated Position Mode; Cyclic Synchronous Position Mode

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-3
6.2 Device Control
6.2.1 CiA402 State Machine
The Drive runs in the specified status only when it is instructed according to the flowchart defined in
CiA402.
Start
Initialization
No Fault
Fault
Stop at Fault
Ready
Wait to Switch ON
Quick Stop
10
0
1
13
14
15
2 7
3 6
Running
16 11
12
4 5
8
9
The states are described in the following table.
State
Description
Initialization
Initialization of the Drive and self-check has been done.
Parameter settings or Drive functions cannot be implemented.
No Fault
No fault exists in the Drive or the fault has been eliminated.
Parameter settings of the Drive is allowed.
Ready
The Drive is ready.
Parameter settings of the Drive is allowed.
Wait to Switch ON
The Drive waits to switch on.
Parameter settings of the Drive is allowed.
Running
The Drive is in normal running state; a certain drive mode is enabled; the
Motor is energized, and rotates when the reference is not 0.
Parameter settings of the Drive is allowed.
Quick Stop
The quick stop function is enabled, and the Drive executes quick stop.
Parameter settings of the Drive is allowed.
Stop at Fault
A fault occurs, and the Drive stops.
Parameter settings of the Drive is allowed.