Not ready to switch on:
This state is pass through after switching on the control voltage (initialisation of the
control hard- and software). After completion of the initialisation the unit changes
automatically into state Switch on disabled.
Switch on disabled:
StateSwitch on disabled is reached when:
• The initialisation is completed (1).
• An error reset was successful (15).
• The bit Enable voltage at co00 (CiA 0x6040)controlword is set to 0 (9,10).
• The release at the safety module (STO) is not preset (9,10).
• The charging of the DC link is not completed.
Ready to switch on:
State Ready to switch on is reached when:
• In state Switch on disabled bit Enable voltage is set to 1(2).
• In state Switched on bit Switch on is set to 0 (6).
• In state Operation enabled bit Switch on is set to 0 (8).
The behaviour of change 5 can be influenced by parameters. See also: Affect the
behaviour of the state machine.
Switched on:
State Switched on is reached when:
• In state Ready to switch on bit Switch on is set to 1 (3).
• In state Operation enabled bit Enable operation is set to 0 (5).
State Switched on can only be reached with voltage supply at the power unit. The
behaviour of change 5 can be influenced by parameters. See also: Affect the be-
haviour of the state machine.
Mod off pause active / Protection time active / Endless protection active:
This state is reached when:
• In state Switched on bit Enable operation is set to 1 (4).
A minimum switch-off time (Mod off pause) must be kept after switching off the
modulation until it can be switched on again. A protection time must be observed
after some errors (OC, OL2, OP). If Enable operation is set to 1 and the corre-
sponding time has not yet elapsed, the state Mod off pause active / Protection
time active / Endless protection active is set. (For a more detailed description of
the individual states, see chapter
If the minimum off time of the unit is up, the drive changes into state Start opera-
tion active.
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