ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 29)

CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
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* QUICK STOP ACTIVE:
The drive parameters may be changed.
The quick stop function is being executed.
The drive function is enabled and power is applied to the motor.
According to the quick stop option code, the drive stops the motion and either
stays in quick stop or disables the motor. The term “drive stops” means that the
rfg completed the deceleration trajectory and not that the motor is stationary.
If the quick stop option code (object 0x605A) is 0 (disable drive function), the state
of the drive is SWITCH ON DISABLED.
* FAULT REACTION ACTIVE:
The drive parameters may be changed.
A fault has occurred in the drive.
The fault reaction function is being executed.
The drive function is disabled.
This parameter cannot be retrieved by the user. The drive automatically
switches to FAULT state.
* FAULT:
The drive parameters may be changed.
A fault has occurred in the drive.
High voltage switch-on/-off depends on the application.
The drive function is disabled.
State Transitions of the Drive Supervisor
State transitions are caused by internal events in the drive or by commands from the host
via the controlword.
State Transition 0: START => NOT READY TO SWITCH ON
Event: Reset.
Action: The drive self-tests and/or self-initializes.
State Transition 1: NOT READY TO SWITCH ON => SWITCH ON DISABLED
Event: The drive has self-tested and/or initialized successfully.
Action: Activate communication.
State Transition 2: SWITCH ON DISABLED => READY TO SWITCH ON
Event: Shutdown command received from host.
Action: None
State Transition 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 on.