States

 

State machine according to CiA 402

 

A

Control voltage switched on, motor is not supplied with current.

B

Control and main voltage switched on, motor is not supplied with current.

C

Control and main voltage switched on, motor is supplied with current.

xxx

State of the status word.

0, 1

Device start-up and self-test after power ON.

13

Fault due to drive or communication error.

14

Internal error processing.

16

Deactivation of command output inhibit "0x8100-01 – Control word".

2, 6

Bit 3 – 0: x110: "Switch off" command.

3

Bit 3 – 0: 0111: "Switch on" command.

4

Bit 3 – 0: 1111: "Enable operation" command. An automatic transition from "Ready to switch on" to "Operation enabled" is possible with CiA 402.

5

Bit 3 – 0: 0111: "Inhibit operation" command.

11

Bit 3 – 0: x01x: "Rapid stop" command.

7, 8, 9, 1, 2

Bit 3 – 0: xx0x: "Switch off voltage" command.

15

Bit 7: Edge 0 – 1: "Error reset" command.

Access to the state machine

With CiA 402, the entire control system is realized using the following two objects. The two objects are mapped in the cyclical data exchange:

"0x8100-01 – Control word"

→

State machine

→

"0x8100-01 – Control word"