ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 27)

CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
21
States may be changed using the controlword and/or according to internal events. The
current state can be read using the statusword.
Figure 6-2: State Machine in System Context
The device states and possible control sequence of the drive are described by the state
machine, as depicted in the following figure:
Power
Disabled
Start
NOT READY TO
SWITCH ON
SWITCH ON
DISABLED
READY TO
SWITCH ON
Fault
FAULT REACTION
ACTIVE
Power
Enabled
SWITCHED ON
OPERATION
ENABLE
QUICK STOP
ACTIVE
NOT READY TO
SWITCH ON
11
16
5 4
8 9
6 3 12 10
7 2
1
0
13
14
15
Figure 6-3: State Machine Block Diagram
State Machine
statusword
(6041h)
Actions
Internal Events
controlword
(6040h)
State Machine State Machine
statusword
(6041h)
Actions
Internal Events
controlword
(6040h)