User Manual
E727T0005, valid for E-727
BRO, 2019-06-28
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 169 / 240
Phone +49 721 4846-0, Fax +49 721 4846-1019, Email info@pi.ws, www.pi.ws
Drive State Machine
For each axis of the E-727, a separate drive state machine is used. Each drive state machine has its
own control word (p. 170) and status word (p. 172).
Figure 39: Drive state machine details
The individual drive state machines for the axes of the E-727 can have different states.
State of drive state machine
This state is performed automatically by the axis (initialization).
Drive function disabled.
SWITCH ON DISABLED
This state can be passed through automatically by local signals of
the axis.
Drive function disabled.
READY TO SWITCH ON
Transition 2 into this state is to be performed by the EtherCAT
master only if necessary.
Drive function disabled.
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