Festo Электромотор MTR-DCI - Manual (Page 322)

C. Reference – CANopen and CI objects
C-46
Festo P.BE-MTR-DCI-CO-EN en 1209a
Condition for status
transfer Description
5 “Ready to switch on”
-> “Switched on” Fault Reset = 0, Enable Operation = 0, Quick Stop = 1,
Enable Voltage = 1, Switch on = 1.
No serious error.
6 “Switched on”
-> “Ready to switch on” Fault Reset = 0, Quick Stop = 1, Enable Voltage = 1, Switch on = 0.
No serious error.
7 “Ready to switch on”
-> “Switch on disabled” Fault Reset = 0, Enable Voltage = 0 or Fault Reset = 0,
Quick Stop = 0, Enable Voltage = 1.
No serious error.
8 “Operation enabled”
-> “Ready to switch on” Fault Reset = 0, Quick Stop = 1, Enable Voltage = 1, Switch on = 0.
No serious error.
9 “Operation enabled”
-> “Switch on disabled” Fault Reset = 0, Enable Voltage = 0.
No serious error.
10 “Switched on”
-> “Switch on disabled”
Fault Reset = 0, Enable Voltage = 0 or Fault Reset = 0,
Quick Stop = 0, Enable Voltage = 1.
No serious error.
11 “Operation enable”
-> “Quick Stop active”
Fault Reset = 0, Quick Stop = 0, Enable Voltage = 1.
No serious error.
12 “Quick Stop active”
-> “Switch on disabled”
Fault Reset = 0, Enable Voltage = 0.
No serious error.
13 From anywhere to
“Fault reaction active”
Serious error, dependent on the device technology employed, which
forces normal operation to be aborted. The status transition is inde-
pendent of the control signals currently being sent.
14 “Fault reaction active”
-> “Fault”
The cause of the fault must be eliminated (e.g. overheating, tem-
perature reduced to permissible level). The emergency stop reaction
is completed.
A positive edge comes from the field bus on Fault Reset.
15 “Fault”
-> “Switch on disabled”
Fault Reset = positive edge and at least one of the Enable Operation,
Quick Stop, Enable Voltage and Switch on signals
not 1.
No serious error.
16 “Quick Stop active”
-> “Operation enabled”
Fault Reset = 0, Enable Operation = 1, Quick Stop = 1, Enable Volt-
age = 1, Switch on = 1.
No serious error.