Hiwin E1 Series - Page 19

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication
HIWIN MIKROSYSTEM Corp. 2-9
MD08UE01-1812
Table 2.4.3 shows the relationship between PDS (Power Drive System) and ESM states.
Table 2.4.3
ESM
PDS
Init PreOp SafeOp Op
Not ready to switch on
O
-
-
O
Switch on disabled
O
O
O
O
Ready to switch on
-
O
O
O
Switched on
-
O
O
O
Operation enabled - O O O
Fault reaction active
O
O
O
O
Fault
O
O
O
O
Note:
1. When ESM state receives a transition command from PreOp, SafeOp and Op to Init, PDS state
changes to Switched on disabled.
2. When PDS is at Operation enabled state but ESM changes to other states except Op, an error
occurs and PDS state changes to Fault.
3. Change of PDS state has no effect on ESM state.