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Table 7-7 CoE state machine transition and events
Transition
Automatic transition after power-on or reset
0
application
1
Automatic transition
Shutdown command from control device or
2
local signal
Switch on command received from control
3
device or local signal
Enable operation command received from
4
control device or local signal
Disable operation command received from
5
control device or local signal
Shutdown command received from control
6
device or local signal
Quick stop or disable voltage command from
7
control device or local signal
Shutdown command from control device or
8
local signal
Disable voltage command from control device
9
or local signal
Disable voltage or quick stop command from
10
control device or local signal
Quick stop command from control device or
11
local signal
Automatic transition when the quick stop
function is completed and quick stop option
12
code 1, 2, 3 or 4 disable voltage command
received from control device (dependant on
the quick stop option code)
13
Fault signal
14
Automatic transition
Fault reset command from control device or
15
local signal
Enable operation command from control
16
device, if the quick stop option code is 5, 6, 7
or 8
SI-EtherCAT User Guide
Issue Number: 2
Event(s)
Action(s)
Drive device self-test and/or self Initialization
shall be performed
Communication shall be activated
None
Power section shall be switched on if not
already switched on
Drive function shall be enabled and clear all
internal set-points
Drive function shall be disabled
The high-power shall be switched off
immediately, and the motor shall be free to
rotate if not braked; additional action depends
on the shutdown option code
None
The high-power shall be switched off
immediately if possible, and the motor shall be
free to rotate if not braked
The high-power shall be switched off
immediately if possible, and the motor shall be
free to rotate if not braked
The high-power shall be switched off
immediately if possible, and the motor shall be
free to rotate if not braked
The quick stop function shall be started
The power section shall be switched off
The configure fault reaction function shall be
executed
The drive function shall be disabled; the high-
power may be switched off
A reset of the fault condition is carried out, if no
fault exists currently on the drive device; after
leaving the Fault state, the Fault reset bit in the
controlword shall be cleared by the control
device
The drive function shall be enabled
47
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