State machine
The following table shows the possible functions for the respective states:
| Not ready to switch on | Switch on disabled | Ready to switch on | Switched on | Operation Enabled | Quick stop active | Fault response Active | Fault |
|---|---|---|---|---|---|---|---|---|
Brake applied, if present | Yes | Yes | Yes | Yes | No | No | No | Yes |
Low-level power applied | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes |
High-level power applied | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes |
Drive function enabled | No | No | No | No | Yes | Yes | Yes | No |
Configuration permitted | Yes | Yes | Yes | Yes | No | No | No | Yes |
The following table shows the bit pattern for the respective transition numbers:
Transition No. | Bit pattern control word |
|---|---|
T2 | xxxx.xxxx.0xxx.x110 |
T3 | xxxx.xxxx.0xxx.0111 |
T4 | xxxx.xxxx.0xxx.1111 |
T5 | xxxx.xxxx.0xxx.0111 |
T6 | xxxx.xxxx.0xxx.x110 |
T7 | xxxx.xxxx.0xxx.xx0x |
T8 | xxxx.xxxx.0xxx.x110 |
T9 | xxxx.xxxx.0xxx.xx0x |
T10 | xxxx.xxxx.0xxx.xx0x |
T11 | xxxx.xxxx.0xxx.x01x |
T12 | xxxx.xxxx.0xxx.xx0x |
T15 | xxxx.xxxx.1xxx.xxxx (increasing edge) |
T16 | xxxx.xxxx.0xxx.1111 |
The following table shows the bit pattern for the respective status names:
Status name | Bit pattern status word |
|---|---|
Not ready to switch on | xxxx.xxxx.x0xx.0000 |
Switch on disabled | xxxx.xxxx.x1xx.0000 |
Ready to switch on | xxxx.xxxx.x01x.0001 |
Switched on | xxxx.xxxx.x01x.0011 |
Operation enabled | xxxx.xxxx.x01x.0111 |
Quick stop active | xxxx.xxxx.x00x.0111 |
Fault response active | xxxx.xxxx.x0xx.1111 |
Fault | xxxx.xxxx.x0xx.1000 |
