Festo Электромотор MTR-DCI - Manual (Page 321)

C. Reference – CANopen and CI objects
C-45
Festo P.BE-MTR-DCI-CO-EN en 1209a
Status Description
H “Fault reaction active” This status can be assumed from any situation if a serious error is
detected. The parameterized error response (emergency ramp, im-
mediate stop etc.) is executed. Communication over the field bus is
maintained, parameter modifications are permitted. The motor re-
mains switched on.
I “Fault” In this status the motor remains switched on, provided the error
which has occurred permits. Otherwise the output stage is disabled
and the mechanical brake is actuated. No more positioning move-
ments are executed.
Tab. C/5: Description of the states
Description of the transfer conditions
Condition for status
transfer Description
0 “Start” ->
“Not ready to switch on” This status transition always takes place unconditionally after a
(re)start.
1 “Not ready to switch on”
-> “Switch on disabled” Note: Not with MTR-DCI. Transition 20 is defined instead.
The self-test of the 5V logic has been completed successfully. Com-
munication via the fieldbus can, but does not have to be already
active.
No special signal levels from CiA 402 are required for the change of
status.
2 “Switch on disabled”
-> “Ready to switch on” Note: Not with MTR-DCI. Transition 20 is defined instead.
Fault Reset = 0, Quick Stop = 1, Enable Voltage = 1, Switch on = 0.
No serious error.
3 “Ready to switch on”
-> “Switched on” Fault Reset = 0, Enable Operation = 0, Quick Stop = 1,
Enable Voltage = 1, Switch on = 1.
Note: in CiA 402 the same status transition also for Enable Opera-
tion = 1, the rest the same. This combination is also provided for
transitions 4 and 16, but in 4 there is a conflict. So this combination
is not applied here.
No serious error present.
4 “Switched on”
-> “Operation enabled” Fault Reset = 0, Enable Operation = 0, Quick Stop = 1,
Enable Voltage = 1, Switch on = 1.
No serious error.