Not ready to switch on
(initialization
Unsettled state)
Switch on
Disabled
(initialization
completed state)
Ready to switch on
(main power OFF)
Switched on
(servo ready
Or
Servo disabled)
Operation enabled
(servo start)
Quick stop active
(deceleration
process)
Fault reaction
active
(deceleration
process)
Fault
(alarm state)
Start
Power off or reset
0: After the control power is put
into operation (Auto skip 0)
1: After initialization (Auto skip 1)
Shutdown: 2
7: disable voltage
Switch on: 3
6: Shutdown
Disable
Voltage: 10
Disable
Voltage: 12
15: fault reset
enable
Operation: 4
5: disable
operation
8: shutdown
9: disable voltage
13: error occurs
14: deceleration
completed
(auto skip 2)
11: quick stop
16: enable
Operation
After migration to Operation enabled, please raise to more than 100ms and input action command.
The following table shows the PDS state migration event (migration condition) and the action at migration time.
PDS migration, while getting handshake, the status migration is performed (through 6041h: Statusword confirm
that the status has been converted, and send the next migration instruction).
After the power supply is put into
operation, or after the application layer is
reset, it will migrate automatically.
After the power supply is put
into operation, or after the
application layer is reset, it will
migrate automatically.
Automatic conversion after initialization.
Communication was
established.
Receiving the shutdown command.
When the power supply is on, it receives
the switch on command.
Receiving Enable operation command.
The driving function is
effective. In addition, all
previous set point data are
cleared.
Receiving Disable operation command.
Driving function is ineffective.
When the power supply is on, it receives
the shutdown command. Power off is
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