Technical Manual N5 (CANopen)
5 General concepts
Not ready to
switch on
Start
Software cannot
rectify error
Switched on
disabled
Ready to
switch on
Switched on
Operation
enabled
3
Quick stop
active
10
Fault
Fault reaction
active
Error occures
No. of the transfer (see
table for explanation)
Torque
voltage switched on for controller
High-level voltage switched on
High-level power
voltage switched on for controller
High-level voltage switched on
No torque at motor
Low-level power
voltage switched on for controller
High-level voltage can be switched on
4
2 5 8
7 1 6 9
13
12
State without
voltage at
Motor
State with
voltage at
Motor
Selection of
operating mode
admissible
Selection of
operating mode
not admissible
Listed in the following table are the bit combinations for the controlword that result in the corresponding
state transitions. An X here corresponds to a bit state that requires no further consideration. The only
exception is the resetting of the error (fault reset): the transition is only requested by the rising edge of
the bit.
Command Bit in object 6040
h
Transition
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 X 1 1 0 1, 5, 8
Switch on 0 0 1 1 1 2
Disable voltage 0 X X 0 X 6, 7, 9, 12
Quick stop 0 X 0 1 X 10
Disable
operation
0 0 1 1 1 4
Enable
operation
0 1 1 1 1 3
Fault reset X X X X 13
Version: 2.0.1 / FIR-v1650 46
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