Canopen Over Ethercat (Coe) State Machine; Status Description - Kollmorgen AKD-CC Installation Manual

4.4 CANopen over EtherCAT (CoE) State Machine

4.4.1 Status Description

Status
Not Ready to Switch On The drive is not ready to switch on; the controller has not indicated readiness for ser-
Switch On Disable
Ready to Switch On
Switched On
Operation Enable
Quick Stop Active
Fault Reaction Active
Fault
Description
vice. The drive is still in the boot phase or in fault status.
In 'Switch On Disable' status, the amplifier cannot be enabled via the EtherCAT inter-
face, because (for example) there is no connection to a power source.
In 'Ready to Switch On' status, the drive can be enabled via the control word.
In 'Switched On' status, the amplifier is enabled, but the setpoints of the EtherCAT-
interface are not yet transferred. The amplifier is idle, and a positive edge in bit 3 of
the control word activates setpoint transfer (transition to 'Operation Enable' status).
In this status, the drive is enabled and setpoints are transferred from the EtherCAT
interface.
The drive follows a quick stop ramp.
The drive responds to a fault with an emergency stop ramp.
A fault is pending, the drive is stopped and disabled.
AKD EtherCAT | 4 EtherCAT Profile
The state machine for the control and
status words corresponds to the
CANopen state machine in accordance
with DS402.
CANopen control and status words are
captured in every instance of fixed PDO
mapping (see chapter "Fixed PDO Map-
pings" (➜ p. 42)).
Kollmorgen | kdn.kollmorgen.com | October 2017 39