ID 442426.04 167WE KEEP THINGS MOVING
Drive controller
9
Manual SD6
The device state machine must receive specific commands for changes of
state. The commands are given as a bit combination in the control word in
accordance with CiA402 (parameter A515 Control word). The table below
shows the states of the bits in A515 and how they are combined for commands
(bits marked with X are irrelevant).
The standard device state machine has the same states as in the device state
machine according to CANopen device profile CiA 402.
The table below lists manufacturer-specific designations and the designations
according to CiA.
State of device controller.
The state machine of the device controller enables the drive function and
power stage or disables them.
Command
Bit of the control word (A515 control word)
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Fault
reset
Enable
operation
Quick
stop
Enable
voltage
Switch
on
Shutdown 0 X 1 1 0
Switch on 0 0 1 1 1
Disable voltage 0 X X 0 X
Quick stop 0 X 0 1 X
Disable operation 0 0 1 1 1
Enable operation 0 1 1 1 1
Fault reset
Pos. of
edge
X XXX
Manufacturer-specific
designation
Designation according to CiA 402
Self test Not ready to switch on
Switch on disable Switch on disabled
Ready to switch on Ready to switch on
Switched on Switched on
Operation enabled Operation enabled
Fault Fault
Fault reaction active Fault reaction active
Quick stop active Quick stop active
E48 device control state version 0
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