ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 28)

Drive States
The following states of the device are possible:
* NOT READY TO SWITCH ON:
Low-level power (24V) has been applied to the drive.
The drive is being initialized and is running the self test.
A brake output, if present, is applied in this state.
The drive function is disabled.
This state is an internal state in which communication is enabled only at the
end. The user can neither retrieve nor monitor this state.
* SWITCH ON DISABLED:
Drive initialization is complete.
The drive parameters have been set up.
Drive parameters may be changed.
High voltage may not be applied to the drive, (such as for safety reasons; refer to
following note).
The drive function is disabled.
Notes:
In this state, if high power is applied anyway, no indication of an error is
given. The application must be responsible for handling the state transition.
SWITCH ON DISABLED is the minimum state to which a user may switch.
* READY TO SWITCH ON:
High voltage may be applied to the drive.
The drive parameters may be changed.
The drive function is disabled.
* SWITCHED ON:
High voltage has been applied to the drive.
The power amplifier is ready.
The drive parameters may be changed.
The drive function is disabled.
No indication is given if the drive high voltage has not been applied.
pplied to the motor.
(This corresponds to normal operation of the drive.)
* OPERATION ENABLE:
No faults have been detected.
The drive function is enabled and power is a
The drive parameters may be changed.
In this state, a brake is automatically released according to the brake parameter
(BP[N]) timing.
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
22