CiA 402 Drive Profile
Figure 8.1: State machine for drives
States description:
Not ready to switch on: The drive is initializing, it cannot be commanded.
Switch on disabled: Initialization complete, the drive is able to receive commands.
Ready to switch on: Command to allow powering up the drive has been received.
Switched on: command for powering up the drive has been received.
Operation enabled: the drive is enabled, being controlled according to the programmed operation mode. Power
is being applied to the motor.
Quick stop active: during the operation, the quick stop command was received. Power is being applied to the
motor.
Fault reaction active: a fault has occurred and the drive is performing the action related to the type of fault.
Fault: drive with fault. disabled function, without power being applied to the motor.
Transitions description:
✓ Transition 0: the drive is switched on and the initialization procedure starts.
✓ Transition 1: initialization completed (automatic).
✓ Transition 2: the Shutdown command has been received. The state transition is performed, but no action is
taken by the drive.
✓ Transition 3: the Switch on command has been received. The state transition is performed, but no action is
taken by the drive.
✓ Transition 4: the Enable operation command has been received. The drive is enabled. It corresponds to activate
the bit 1 of the control word of the drive via EtherCAT – P0684.
✓ Transition 5: the Disable operation command has been received. The drive is disabled. It corresponds to reset
the bit 1 of the control word of the drive via EtherCAT – P0684.
✓ Transition 6: the Shutdown command has been received. The state transition is performed, but no action is
taken by the drive.
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