Canopen Over Ethercat (Coe) Status Machine; Status Description - Kollmorgen AKD PDMM series User Manual

AKD PDMM User Guide | 50.4 CANopen over EtherCAT (CoE) Status Machine

50.4 CANopen over EtherCAT (CoE) Status Machine

The status machine for the control and status words corresponds to the CANopen status machine in
accordance with DS402. CANopen control and status words are captured in every instance of fixed PDO
mapping (see chapter entitled 'Fixed PDO Mapping', page ).

50.4.1 Status Description

Status
Not Ready to Switch
On
Switch On Disable
Ready to Switch On
Switched On
Operation Enable
Quick Stop Active
Fault Reaction Active The drive responds to a fault with an emergency stop ramp.
Fault
480 Kollmorgen™ | December 2012
Description
The drive is not ready to switch on; the controller has not indicated readiness for
service. 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
interface, 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 Ether-
CAT-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 Ena-
ble' status).
In this status, the drive is enabled and setpoints are transferred from the Ether-
CAT interface.
The drive follows a quick stop ramp.
A fault is pending, the drive is stopped and disabled.