BECKHOFF AX2000 CANopen communication profile - Manual (Page 52)

4.4.1.2 Transitions of the status machine
The state transitions are affected by internal events (e.g. switching off the DC-link voltage) and by
the flags in the control word (bits 0,1,2,3,7).
Transition Event Action
0 Reset Initialization
1
Initialization completed successfully. AX2xxx
is ready to operate.
none
2
Bit 1 Disable Voltage and Bit 2
Quick Stop are set in the control word (Shut-
down command).
DC-link voltage may be present.
none
3
Bit 0 is also set
(Switch On command)
Output stage is switched on (enabled),
provided that the hardware enable is present
(logical AND).
Drive has torque.
4
Bit 3 is also set
(Enable Operation command) Motion function is enabled,
depending on the mode that is set.
5
Bit 3 is canceled
(Disable Operation command)
Motion function is inhibited.
Drive is stopped, using the relevant ramp
(mode-dependent).
The present position is maintained.
6
Bit 0 is canceled
(Shutdown command) Output stage is disabled.
Drive has no torque.
7
Bits ½ are canceled
(Quick Stop / Disable Voltage command)
none
8
Bit 0 is canceled
(Shutdown command) Output stage is disabled.
Drive has no torque.
9
Bit 1 is canceled
(Disable Voltage command) Output stage is disabled.
Drive has no torque.
10
Bits ½ are canceled
(Quick Stop / Disable Voltage command) Motion function is enabled,
depending on the mode that is set.
11
Bit 2 is canceled
(Quick Stop command)
Drive is stopped with the emergency braking
ramp. The output stage remains enabled.
Setpoints are canceled
(motion block number, digital setpoint, speed for
jogging or homing). Bit 2 must be set again be-
fore any further motion tasks can be performed.
12
Bit 1 is canceled
(‘Disable Voltage’ command) Output stage is disabled.
Drive has no torque.
13 not supported at present none
14 not supported at present none
15 not supported at present none
16 Bit 2 is set Motion function is enabled again.
Attention !
If the servo amplifier is operated through the control word / status word, then no control
commands may be sent through another communication channel (RS232, CANopen, ASCII
channel, Option board).
52 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF