ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 148)

Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-3
10.1.1 Device State Machine Control
The state of the device is controlled by the controlword and the status of the device is
indicated by the statusword. The device’s state and the drive’s possible control
sequence 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 10-1: Possible Control Sequence
Refer to the Device Control chapter in the “Elmo CANopen DS 402 Implementation
Guide”.
The following are possible device states:
SWITCH ON DISABLED
To this state:
Operation 1 - Drive initialization is complete
Operation 7, 9,10,12 - div, DisableVoltage command for all motion objects
Operation 15 - far, FaultReset command for all motion objects
From this state: