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Figure 7-1 CoE state machine diagram
Start
0
Drive not tripped
Not Ready To Switch On
Profile SW & 0xFFB0
1
Pr
Disable voltage
Disable voltage
Yes
46
(Any Drive Trip)
13
15
No
10.002
=0
Switch On Disabled
Profile SW & 0xFFB0 | 0x0040
Inhibit drive
2
Shutdown
Ready To Switch On
Profile SW& 0xFF90 | 0x0021
Inhibit drive
3
Shutdown
Switch On
6
Switched On
Profile SW& 0xFF90 | 0x0023
Set drive Rdy state
10
4
Enable Operation
Operation Enabled
Profile SW& 0xFF90 | 0x0027
9
Set drive run state
16
Quick Stop
Start quick stop
(mode specific )
Quick Stop Active
Profile SW& 0xFF90 | 0x0007
Drive stopped?
Stay in Quick
Stop state?
14
Fault Reaction Active
Profile SW& 0xFFB0 | 0x000F
Fault Reset
Drive Tripped?
7
Disabling
operation
Start disable
operation
(mode
specific)
5
Disable operation
8
Enable operation
11
12
Fault Reaction
Complete
Fault
Profile SW& 0xFFB0 | 0x000F
Inhibit drive
Yes
Shutdown
No
SI-EtherCAT User Guide
Issue Number: 2
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