• State Transition 7: READY TO SWITCH ON -> SWITCH ON DISABLED
Event: 'Quick Stop' and ‘Disable Voltage’ command received from host.
Action: None
• State Transition 8: OPERATION ENABLE -> READY TO SWITCH ON
Event: 'Shutdown' command received from host.
Action: The power section is switched off immediately, and the motor is free to rotate if unbraked.
• State Transition 9: OPERATION ENABLE -> SWITCH ON DISABLED
Event: 'Disable Voltage' command received from host.
Action: The power section is switched off immediately, and the motor is free to rotate if unbraked.
• State Transition 10: SWITCHED ON -> SWITCH ON DISABLED
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.
• State Transition 11: OPERATION ENABLE -> QUICK STOP ACTIVE
Event: 'Quick Stop' command received from host.
Action: The quick stop function is executed.
• State Transition 12: QUICK STOP ACTIVE -> SWITCH ON DISABLED
Event: 'Quick Stop' is completed or 'Disable Voltage' command received from host.
This transition is possible, if the Quick-Stop-Option-Code is different from 5 (stay in the state ‘Quick Stop Active’).
Action: The power section is switched off.
• State Transition 13: All states -> FAULT REACTION ACTIVE
A fault has occurred in the drive.
Action: Execute appropriate fault reaction.
• State Transition 14: FAULT REACTION ACTIVE -> FAULT
Event: The fault reaction is completed.
Action: The drive function is disabled. The power section may be switched off.
• State Transition 15: FAULT -> SWITCH ON DISABLED
Event: 'Fault Reset' command received from host.
Action: A reset of the fault condition is carried out if no fault currently exists in the drive.
After leaving the state Fault the Bit 'Fault Reset' of the control word has to be cleared by the host.
• State Transition 16: QUICK STOP ACTIVE -> OPERATION ENABLE
Event: 'Enable Operation' command received from host. This transition is possible if the
Quick-Stop-Option-Code is 5, 6, 7 or 8.
Action: The drive function is enabled.
Objects definition
Index Object Name Type Attr.
0x6040 VAR Control Word Unsigned16 rw
0x6041 VAR Status Word Unsigned16 ro
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