Controlling Micromaster Drive Converters Via Canopen - Siemens MICROMASTER 420 Operating Instructions Manual

Issue 01/05
3.3 Controlling MICROMASTER drive converters via
CANopen
The state machine for drives - as is supported by MICROMASTER - is shown in
the diagram below. The state machine defines the various stati of the drives and
the possible transitions between them. In order to speed-up the drive run-up, the
drive does not require a second command to progress (advance) from Ready to
power-up to operation enable. If the control has set the two relevant bits, that are
required for these transitions, then the MICROMASTER only displays the powered-
up (switched-on) state in the status word and then automatically changes into the
Operation Enable state.
CANopen state machine
Fig. 3-15
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
Power
Disabled
Start
0
Not Ready to
Switch On
1
Switch On
Disabled
2 7
Ready to
Switch On
9
8 3 6
Switch On
4
5
Operation
Enable
Power
Enabled
State machine for drives
Data transfer using CANopen
Fault
13
Fault
Reaction Active
14
Fault
15
Statusword
Bit 3 (Fault)
10 12
Quick Stop
11
Active
55