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26 MDrivePlus CANopen R020507
State Machine Transitions
Transition
Number
From State To State Event/Action
0
Start
Not Ready To Switch
On
Event: Reset.
Action: The drive self-tests and/or self-initializes.
1
Not Ready To
Switch On
Switch On Disabled
Event:
The drive has self-tested and/or initialized
successfully.
Action:
Activate communication and process data
monitoring
2
Switch On Disabled Ready to Switch On
Event: ‘Shutdown’ command received from host.
Action: None.
3
Ready to Switch On Switched On
Event: ‘Switch On’ command received from host.
Action:
The power section is switched on if it is not
already switched on.
4
Switched On Operation Enable
Event: ‘Enable Operation’ command received from host.
Action: The drive function is enabled.
5
Operation Enable Switched On
Event:
‘Disable Operation’ command received from
host.
Action: The drive operation will be disabled.
6
Switched On Ready to Switch On
Event: ‘Shutdown’ command received from host.
Action: The power section is switched off.
7
Ready to Switch On Switch On Disabled
Event: ‘Quick stop’ command received from host.
Action: None
8
Operation Enable Ready to Switch On
Event: ‘Shutdown’ command received from host.
Action:
The power section is switched off immediately,
and the motor is free to rotate if unbraked
9
Operation Enable Switch On Disabled
Event: ‘Disable Voltage’ command received from host.
Action:
The power section is switched off immediately,
and the motor is free to rotate if unbraked
10
Switched On Switch On Disabled
Event:
‘Disable Voltage’ or ‘Quick Stop’ command
received from host.
Action:
The power section is switched off immediately,
and the motor is free to rotate if unbraked
11
Operation Enable Quick Stop Active
Event: ‘Quick Stop’ command received from host.
Action: The Quick Stop function is executed.
12
Quick Stop Active Switch On Disabled
Event:
‘Quick Stop’ is completed or ‘Disable Voltage’
command received from host. This transition
is possible, if the Quick-Stop-Option-Code is
different 5 (Stay in Quick-Stop)
Action: The power section is switched off.
13
All States
Fault Reaction
Active
Event: A fault has occured in the drive.
Action: Execute appropriate fault reaction.
14
Fault Reaction
Active
Fault
Event: Fault reaction is completed.
Action:
The drive function is disabled, the power section
may be switched off.
15
Fault Switch On Disabled
Event: ‘Fault Reset’ command is recieved from the host.
Action:
A reset of the fault condition is carried out if no
fault exists currently on the drive. After leaving
the ‘Fault’ state the Bit ‘Fault Reset’ of the
controlword has to be cleared by
the host.
16
Quick Stop Active Operation Enable
Event:
‘Enable Operation’ command received from
host. This transition is possible if the Quick-Stop-
Option-Code is 5,6,7 or 8.
Action:
The drive function is enabled
Table 4.2: State Machine Transitions