Trinamic CANopen - Page 6

Trinamic CANopen quickstart guide • Guide • Document Revision V1.00 • 2021-Sept-10
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CANopen DS402 state machine
In CANopen the DS402 (or CiA-402) state machine defines the states of the CANopen drive (e.g.
which objects can be written, motor status). The state of the state machine can be changed by
the object 0x6040 (Controlword). The state of the state machine can be read by the object 0x6041
(Statusword). The following figure shows the DS402 state machine and transitions:
Figure 7
The below table gives an overview on common states and the possible operation.
Switch on
disabled
Ready to
switch on
Switched
on
Operation
enabled
Fault
High-level
power applied
No No Yes Yes No
Drive function
enabled
No No Yes Yes No
Configuration
enabled
Yes Yes Yes No* No*
* depending on the configuration object
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