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27Part 2: DSP-402 Implementation
Power Disabled
Power Enabled
Fault
Start
Not Ready to Switch On
Fault Reaction Active
Fault
Switch On Disabled
Ready To Switch On
0
1
2
7
4
5
6
Switched On
Operation Enable Quick Stop Active
9 38
16
11
10 12
14
13
15
Controlword 6040h
Internal
Event
Statusword
6041h
SUPPORT FOR FAULT
STATES UNDER
DEVELOPMENT
Figure 4.2: State Machine States/Transitions Block Diagram
Notes On State Transitions
Commands directing a change in state are processed completely and the new state achieved before additional state
change commands are processed.
Transitions 0 and 1 occur automatically at drive power-on or reset. All other state changes must be directed by the
host.
Drive function disabled indicates that no current is being supplied to the motor.
Drive function enabled indicates that current is available for the motor and profile position and profile velocity
reference values may be processed.