SMC Networks LECSN-T Series User Manual

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18．EtherCAT COMMUNICATION
Not ready to
switch on
Sw itch on
disabled
Ready to
switch on
Sw itched on
Operation
enabled
Quick stop
active
(1)
(8) (9)
(10)
(0)
Power offPow er on
(2)
(3) (6)
(4) (5)
(7)
(15)
Error occurs
(11)
(12)
(13)
Fault
Fault reaction
active
(14)
(B): Ready-on, Servo-off
Transition by slave
Transition by master
Transition by slave or master
(A): Ready-off, Servo-off
(C): Ready-on, Servo-on
(16)
Figure 5.1 Transition between the FSA states
Table 5.1 State transition
Transiti
on No.
Event
Remark
(0)
The control circuit power supply is turned on.
Initialization
(1)
The state automatically transitions when the control circuit power
supply is turned on.
Communication setting
(2)
The state transitions with the Shutdown command from the master.
(3)
The state transitions with the Switch on command from the master.
RA turns on.
(4)
The state transitions with the Enable operation command from the
master.
The operation becomes ready after servo-on.
(5)
The state transitions with the Disable operation command from the
master.
The operation is disabled after servo-off.
(6)
The state transitions with the Shutdown command from the master.
RA turns off.
(7)
The state transitions with the Disable Voltage command or Quick
Stop command from the master.
(8)
(a) The state transitions with the Shutdown command from the
master.
(b) The state transitions when the main circuit power supply is turned
off.
Operation is disabled after servo-off or
RA-off.
(9)
The state transitions with the Disable Voltage command from the
master.
Operation is disabled after servo-off or
RA-off.
(10)
The state transitions with the Disable Voltage command or Quick
Stop command from the master.
RA turns off.
(11)
The state transitions with the Quick Stop command from the master.
Quick Stop starts.
(12)
(a) The state automatically transitions after Quick Stop is completed.
(If the Quick Stop option code is 1, 2, 3, or 4)
(b) The state transitions with the Disable Voltage command from the
master.
Operation is disabled after servo-off or
RA-off.
(13)
Alarm occurrence
Processing against the alarm is executed.

SMC Networks LECSN-T Series Specifications

General

Brand	SMC Networks
Model	LECSN-T Series
Category	Controller
Language	English