State Machine（状态机）
下表列出了各种状态下可以使用的功能：
| Not Ready To Switch On | Switch On Disabled | Ready To Switch On | Switched On | Operation Enabled | Quick Stop Active | Fault Reaction 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 allowed | Yes | Yes | Yes | Yes | No | No | No | Yes |
下表列出了相应过渡编号的位模型：
过渡编号 | 位模型控制字 |
|---|---|
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（上升沿） |
T16 | xxxx.xxxx.0xxx.1111 |
下表列出了相应状态名称的位模型：
状态名称 | 位模型状态字 |
|---|---|
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 Reaction Active | xxxx.xxxx.x0xx.1111 |
Fault | xxxx.xxxx.x0xx.1000 |
