ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 31)

After leaving FAULT state, the Fault Reset bit of the controlword must be
cleared by the host. The drive does not monitor this bit in other states. If this
bit is not cleared from a previous fault st
drive automatically enters SWITCH ON DISABLED state with no indications
ate, when the next fault occurs, the
ing.
State T
Event: En
the quick
Action: Th
or warn
ransition 16: QUICK STOP ACTIVE=>OPERATION ENABLE
able Operation command received from host. This transition is possible if
stop option code (object 0x605A) is 5, 6.
e drive function is enabled.
Notes:
This transition forces a “motion begin”; for example, if the controlword
forces transition 11 during a home seque
nce, the motor will stop according
to the quick stop option code. If a new homing speed and homing acceleration are
sets transition 16, the home sequence
preter)
set to the drive and the controlword
will continue according to the method and with the new home parameters.
If the motor is turned off by an external source (such as the inter
during OPERATION ENABLE, the minimum state SWITCH ON ENABLE
will merge with no further notification.
Important Notes about State Transition:
If a command that causes a change of state i s received, it is processed completely
er up or at
itions
e
city and position) are processed.
le
T.
if the fault is not active anymore.
If a fault occurs in OPERATION ENABLE state, an emergency message – if not
masked – is sent with the fault reason. The last 16 fault messages are latched and
can be retrieved later by uploading object 0x1003, defined in DS-301.
In a fault state, setting MO=1 through methods other than the controlword
activates the motor and leads to an ambiguous state of the DSP 402 protocol.
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
25
and the new state is attained before the next command is processed.
The drive performs transitions 0 and 1 after initiation, either at pow
NMT node reset. From this state, it is up to the host to change the trans
according to the application needs.
“Drive function is disabled” implies that no energy is being supplied to th
motor. Reference values are not processed.
“Drive function is enabled” implies that energy can be supplied to the motor.
The reference values (torque, velo
“Fault occurred” implies that a fault has occurred in the drive during
“Operation Enable”. In this case, there is a transition to state FAULT
REACTION ACTIVE, during which the device executes a motor disab
function. After executing this fault reaction, the device switches to state FAUL
It is possible to leave this state only through the Fault Reset command, and only