Festo Электромотор MTR-DCI - Manual (Page 320)

C. Reference – CANopen and CI objects
C-44
Festo P.BE-MTR-DCI-CO-EN en 1209a
Description of the states
Status Description
A “Start” This state is assumed at power-on, on reset or when a reset com-
mand is entered via the field bus. After execution of the startup code
power to the power section is cut and the status branches to B.
B “Not ready to switch on” In this status logic self-tests are carried out. Internal working vari-
ables are initialized. The mechanical brake is actuated, if fitted. The
power supply to the power section remains cut. The field bus inter-
face is initialized and communication enabled. The CI is initialized at
the serial interface.
C “Switch on disabled” The supply to the power section remains cut. The field bus and/or CI
communication initialized in status B is started, enabling controller
parameters, program records etc. to be modified.
As from this status changes of state are possible only by way of field
bus commands or if a serious error has occurred.
D “Ready to switch on” Power to the power section is switched on, power section self-tests
requiring no movement of the axis are carried out. By way of field
bus and/or CI communication controller parameters, program
records etc. can be modified (see also status E).
E “Switched on” This status is practically identical to status D. In accordance with
CiA 402, supply to the power section
must be switched on in E,
whereas it can be switched on in D.
F “Operation enabled” The drive waits for positioning tasks and executes them. Normal
operating status after successful initialization.
G “Quick stop active” The Quick stop function has been activated. The drive runs as para-
meterized (ramp) and then stops. The power section and motor
remain switched on, acceptance of positioning tasks is refused.