Lust ServoOne - Page 42

User Manual CANopen/EtherCAT
42
controlword
(6040h)
statusword
(6041h)
Actions
Internal
Events
State Machine
Figure State machine
8.1.3 Device states
Fault
Not Ready to
Switch On
Start
Switch On
Disabled
Ready to
Switch On
Switched On
Operation
Enable
Quick Stop
Activ
Fault
Reaction Active
Fault
Power
Disabled
Power
Ensabled
0
1
2
7
3
6
4
5
11
16
13
14
15
12
10
9 8
Figure State machine
The following device states are possible:
NOT READY TO SWITCH ON:
Only control voltage is connected to the drive.
The drive is initialised or is performing a self-test.
If installed, the brake engages in this state.
The drive function is deactivated.
SWITCH ON DISABLED: (Switch-on inhibit)
Drive initialisation is complete.
Drive parameters have been set.
Drive parameters have been changed.
No power to device (for safety reasons).
The drive function is deactivated.
“STO (Safe Torque Off)“ Standstill and/or ENPO not active.
READY TO SWITCH ON:
Power is connected to the device.
Drive parameters have been changed.
Drive function is deactivated.
SWITCHED ON:
Power is connected to the device.
POWER AMPLIFIER is ready.
Drive parameters have been changed.
The drive function is deactivated.
OPERATION ENABLE:
No errors were detected.
Drive function is enabled and power is connected to motor.
Drive parameters have been changed.
(Relates to standard application of the drive.)
QUICK STOP ACTIVE:
Drive parameters have been changed.
QUICK STOP function being executed.
Drive function is enabled and power is connected to motor.
If the QUICK STOP OPTION CODE is set to 5 (remain at