8-51
The state of state machine will stay under Init mode when the power is on. The switch among each
status needs to be done by the controller giving commands to the servo driver.
Symbol Direction (=>) Corresponding action description
IP INIT TO PREOP Start Mailbox communication
PI PREOP TO INIT Stop Mailbox communication
PS PREOP TO SAFEOP Start receiving TxPDO communication
SP SAFEOP TO PREOP Stop receiving TxPDO communication
SO SAFEOP TO OP Start receiving RxPDO communication
OS OP TO SAFEOP Stop receiving RxPDO communication
OP OP TO PREOP Stop receiving Tx/Rx PDO communication
SI SAFEOP TO INIT
Stop receiving TxPDO communication, stop Mailbox
communication
OI OP TO INIT
Stop receiving Tx/Rx PDO communication, stop
Mailbox communication
To Next Page
Loading...
