Estun Summa Series - Chapter 12 Appendix; Profile Velocity;Cyclic Synchronous Velocity Mode; Profile Torque; Cyclic Synchronous Torque Mode

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-4
State
Description
Fault
The stop process is completed, and all the drive functions are inhibited.
Parameter setting is allowed for users to eliminate faults.
The control commands and state switchover are described as follows:
CiA402 State Switchover
Controlword (6040h)
Statusword (6041h)
0
Start → Initialization
Natural transition, and no control
command is required.
0x0000
1
Initialization → No Fault
Natural transition, and no control
command is required.
If an error occurs during
initialization, the Drive directly
goes to state 13.
0x0250
2
No Fault → Ready
0x0006
0x0231
3
Ready → Wait to switch on
0x0007
0x0233
4
Wait to switch on → Running
0x000F
0x0237
5
Running → Wait to switch on
0x0007
0x0233
6
Wait to switch on → Ready
0x0006
0x0231
7
Ready → No Fault
0x0000
0x0250
8
Running → Ready
0x0006
0x0231
9
Ready → No Fault
0x0000
0x0250
10
Wait to switch on → No Fault
0x0000
0x0250
11
Running → Quick stop
0x0002
0x0217
12
Quick stop → No Fault
Set 605Ah to a value among 0 to 2.
Natural transition is performed after
stop, and no control command is
required.
0x0250
13
Stop at fault
Once a fault occurs in any state
other than Fault, the Drive
automatically switchovers to the
stop at fault state, without control
command.
0x021F
14
Stop at fault → Fault
Natural transition after stop at fault,
and no control command is
required.
0x0218
15
Fault → No Fault
0x80
0x0250
16
Quick stop → Running
Set 605Ah to a value between 5 and
6. After the stop process is
completed, 0x0F is sent after the
stop process is completed.
0x0237