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CANopen option board interface
Command
Shutdown
Switch on
Switch on + enable
operation
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset
NOTE Automatic transition to Enable operation state after executing SWITCHED ON
state funtionality.
12
Quick stop active
xxxx xxxx x00x 0111
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
Bits of the controlword
Bit 7
Bit 3
0
X
0
0
0
1
0
X
0
X
0
0
0
1
X
Figure 17. Controlword commands
Start
0
Not ready to switch on
xxxx xxxx x0xx 0000
1
Switch on disabled
xxxx xxxx x1xx 0000
2
Ready to switch on
10
xxxx xxxx x01x 0001
3
Switched on
xxxx xxxx x01x 0011
4
Operation enabled
xxxx xxxx x01x 0111
b
11
Figure 18. Power Drive System state machine
Bit 2
Bit 1
Bit 0
1
1
0
1
1
1
1
1
1
X
0
X
0
1
X
1
1
1
1
1
1
X
X
X
b
15
xxxx xxxx x0xx 1000
b
7
13
xxxx xxxx x0xx 1111
b
6
8
9
b
5
Power-off or reset
b
vacon • 67
Transitions
2.6.8
3
3 + 4
(NOTE)
7,9,10,12
7,10,11
5
4,16
15
9422A_uk
Fault
b
14
Fault reaction active
b
9401.emf
8
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