5.4.1.2 Transitions of the status machine
The state transitions are affected by internal events (e.g. switching off the DC-link voltage) and by
the flags in the control word (bits 0,1,2,3,7).
Transition Event Action
0 Reset Initialization
1
Initialization completed successfully.
S300/S700 is ready to operate.
none
2
Bit 1 Disable Voltage and Bit 2
Quick Stop are set in the control word
(Shutdown command).
DC-link voltage may be present.
none
3
Bit 0 is also set
(Switch On command)
Output stage is switched on (enabled),
provided that the hardware enable is
present (logical AND). Drive has torque.
4
Bit 3î is also set
(Enable Operation command)
Motion function is enabled, depending
on the mode that is set.
5
Bit 3 is canceled
(Disable Operation command)
Motion function is inhibited. Drive is
stopped, using the relevant ramp (mode-
dependent). The present position is
maintained.
6
Bit 0 is canceled
(Shutdown command)
Output stage is disabled. Drive has no
torque.
7
Bits 1 and 2 are canceled
(Quick Stop / Disable Voltage command)
none
8
Bit 0 is canceled
(Shutdown command)
Output stage is disabled. Drive has no
torque.
9
Bit 1 is canceled
(Disable Voltage command)
Output stage is disabled. Drive has no
torque.
10
Bits 1 and 2 are canceled
(Quick Stop / Disable Voltage command)
Output stage is disabled. Drive has no
torque.
11
Bit 2 is canceled
(Quick Stop command)
Drive is stopped with the emergency
braking ramp. The output stage remains
enabled.
Setpoints are canceled.
(motion block number, digital setpoint,
speed for jogging or homing). Bit 2 must
be set again before any further motion
tasks can be performed.
12
Bit 1 is canceled
(âDisable Voltageâ command)
Output stage is disabled. Drive has no
torque.
13 Fault reaction active Execute appropriate fault reaction.
14 Fault reaction is completed
Drive function is disabled. The power
section may be switched off.
15
"Fault Reset" command received from
host
A reset of the fault condition is carried
out if no fault exists currently on the
drive.After leaving the state Fault the
Bit7 'Reset Fault' of the controlword has
to be cleared by the host.
16 Bit 2 is set Motion function is enabled again.
If the servo amplifier is operated through the control word / status word, then no control com-
mands may be sent through another communication channel (RS232, CANopen, ASCII channel,
Option board).
S300-S700 CANopen | 5 îîCANopen Drive Profile
Kollmorgen | kdn.kollmorgen.com | December 2019 57