BECKHOFF AX2000 CANopen communication profile - Manual (Page 51)

4.4.1 Status Machine (DS402)
4.4.1.1 States of the Status Machine
State Description
Not Ready for Switch On
AX2xxx is not ready to switch on, there is no operational readiness (BTB/RTO) sig-
naled from the controller program.
Switch On Disable
AX2xxx is ready to switch on, parameters can be transferred,
the DC-link voltage can be switched on, motion functions cannot be carried out yet.
Ready to Switch On
DC-link voltage may be switched on, parameters can be transferred,
motion functions cannot be carried out yet.
Switched On
DC-link voltage must be switched on, parameters can be transferred, motion
functions cannot be carried out yet, output stage is switched on (enabled).
Operation Enable No fault present, output stage is enabled, motion functions are enabled.
Quick Stop Active
Drive has been stopped with the emergency ramp, output stage is enabled, motion
functions are enabled, response depends on Object 605A h ( Þ 6.3)
Fault Reaction Active not supported at present
Fault not supported at present
CANopen for AX2000/2500 51
BECKHOFF
07/2007
CANopen Drive Profile
Start
Not Ready to
Switch On
Switch On
Disabled
Ready to
Switch On
Switched On
Operation
Enable
Fault
Reaction Active
Fault
Quick Stop
Active
Power
Disabled
Power
Enabled
Fault
9
16
11
8
0
1
7 2
3 6
5 4
12 10
15
14
13