Mitsubishi Electric MELSERVO-J4 Instruction Manual page 37

5. CiA 402 DRIVE PROFILE
(12)
Quick stop
Transition No.
(0) The control circuit power supply is turned on.
The state automatically transitions when the control
(1)
circuit power supply is turned on.
The state transitions with the Shutdown command from
(2)
the master.
The state transitions with the Switch on command from
(3)
the master.
The state transitions with the Enable operation command
(4)
from the master.
The state transitions with the Disable operation
(5)
command from the master.
The state transitions with the Shutdown command from
(6)
the master.
The state transitions with the Disable Voltage command
(7)
or Quick Stop command from the master.
(a) The state transitions with the Shutdown command
from the master.
(8)
(b) The state transitions when the main circuit power
supply is turned off.
The state transitions with the Disable Voltage command
(9)
from the master.
The state transitions with the Disable Voltage command
(10)
or Quick Stop command from the master.
The state transitions with the Quick Stop command from
(11)
the master.
(a) The state automatically transitions after Quick Stop is
completed. (If the Quick Stop option code is 1, 2, 3,
or 4)
(12)
(b) The state transitions with the Disable Voltage
command from the master.
(13) Alarm occurrence
Power on
(0)
Not ready to
switch on
(1)
Switch on
disabled
(2)
(10)
Ready to
switch on
(3)
Switched on
(4)
(16)
Operation
active enabled
(11)
Transition by slave
Transition by master
Transition by slave or master
Figure 5.1 Transition between the FSA states
Table 5.1 State transition
Event
Power off
(15)
Fault
(7)
(14)
(6)
(8) (9)
(5)
Fault reaction
active
(13)
Error occurs
Initialization
Communication setting
RA turns on.
The operation becomes ready after servo-on.
The operation is disabled after servo-off.
RA turns off.
Operation is disabled after servo-off or RA-off.
Operation is disabled after servo-off or RA-off.
RA turns off.
Quick Stop starts.
Operation is disabled after servo-off or RA-off.
Processing against the alarm is executed.
5 - 2
(A): Ready-off, Servo-off
(B): Ready-on, Servo-off
(C): Ready-on, Servo-on
Remark