Siko AG06 - Page 51

Communication via CAN bus
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 51 of 114
The following states of the state machine of the actuator are available:
 'NOT READY TO SWITCH ON'
The actuator is being initialized after switching on. No travel commands can be accepted.
Motor is enabled.
 'SWITCH ON DISABLED'
Initialization completed. No travel commands can be accepted. Motor is enabled.
 'READY TO SWITCH ON'
No travel commands can be accepted. Motor is enabled.
 'SWITCHED ON'
No travel commands can be accepted. Motor is enabled.
 'OPERATION ENABLED'
Travel commands can be accepted. Motor is in control state.
 'QUICK STOP ACTIVE'
The Quick Stop command was executed. Motor decelerates with maximum deceleration and
stops with stop torque. Current positioning is cancelled. No travel commands can be
accepted.
 'FAULT'
An error has occurred. Motor is enabled. Current positioning is cancelled. No travel
commands can be accepted.
The states of the State Machine can be changed via internal events or through commands of
the master via control word (see chapter 9.6: Control word).
 State change 0: START  NOT READY TO SWITCH ON
Power on or software reset of the actuator.
 State change 1: NOT READY TO SWITCH ON  SWITCH ON DISABLED
Initialization and self-test of the actuator successfully completed.
 State change 2: SWITCH ON DISABLED  READY TO SWITCH ON
'Shutdown' command by master.
 State change 3: READY TO SWITCH ON  SWITCHED ON
'Switch On' command by master.
 State change 4: SWITCHED ON  OPERATION ENABLE
'Enable Operation' command by master.
 State change 5: OPERATION ENABLE  SWITCHED ON
'Disable Operation' command by master.
 State change 6: SWITCHED ON  READY TO SWITCH ON
'Shutdown' command by master.
 State change 7: READY TO SWITCH ON  SWITCH ON DISABLED
'Disable Voltage' command by master.
 State change 8: OPERATION ENABLE  READY TO SWITCH ON
'Shutdown' command by master.
 State change 9: OPERATION ENABLE  SWITCH ON DISABLED
'Disable Voltage' command by master.
 State change 10: SWITCHED ON  SWITCH ON DISABLED
'Disable Voltage' command by master.