20.5.2 FSA state
Telegram 100 or more internal status of the driver are controlled with STA state. Figure 5.2 and Table 5.2
show the transition conditions between the FSA states. The states are switched when the master sends a
command following table 5.2 (sets Controlword) after the I/O communication was established. When the
state has transitioned from Not ready to switch on, which is right after the power on, to Operation enabled
with the predetermined procedure, the servo motor becomes ready to operate.
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)
Pow er 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)
When the communication state is "IDLE", the state will always be Switch on disabled.
Figure 5.2 Transition between the FSA states
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