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SM-EtherCAT User Guide 31
Issue Number: 2 www.controltechniques.com
Safety
Information
Introduction
Mechanical
Installation
Electrical
Installation
Getting Started Protocols
Drive profile (DSP-402)
support
Advanced
features
Diagnostics
Quick
Reference
Glossary Of
Terms
Index
Figure 7-1 CoE state machine diagram
SWITCH ON
DISABLED
NOT READY TO
SWITCH ON
START
READY TO
SWITCH ON
SWITCHED ON
OPERATION
ENABLE
QUICK STOP
ACTIVE
FAULT
FAULT REACTION
ACTIVE
Pr 10.01 = 1
Pr 10.02 = 0
0
Shutdown
1
2
Switch On
3
Enable
operation
4
Disable
operation
5
Shutdown
6
Quick stop
7
Shutdown
8
9
Disable
voltage
10
Disable
voltage
16
Quick stop
Disable
voltage
12
Any drive
trip
13
Fault reaction
complete
14
Fault reset
15
11
Enable
operation
Any drive
trip
Power enabled
FaultPower disabled
Drive not
tripped