5 General concepts
●
Switch on disabled
●
Ready to switch on
●
Switched on
It is not possible to change the operating mode in running operation (Operation enabled). The Fault state is
exited if bit 7 in object 6040
h
(controlword) is set from "0" to "1" (rising edge).
Note
If an unrecoverable error occurs, the controller changes to the Not ready to switch on state and remains
there.
5.2.2 Behavior upon exiting the Operation enabled state
5.2.2.1 Halt motion reactions
Various halt motion reactions can be programmed upon exiting the Operation enabled state.
The following graphic shows an overview of the halt motion reactions.
Version: 2.0.1 / FIR-v1650 39
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