The Canopen State Machine - ABB NCAN-02 Installation And Startup Manual

The CANopen State
Machine
CW: Control Word
SW: Status Word
CW: xxxxxxxxxxxxxx0x
NCAN-02 Installation and Start-up Guide
START
NOT READY
TO SWITCH ON
SW: xxxxxxxxx0xx0000
SWITCH-ON
DISABLED
SW: xxxxxxxxx1xx0000
CW: xxxxxxxxxxxxx110
READY TO
SWITCH ON
SW: xxxxxxxxx01x0001
CW: xxxxxxxxxxxxx111
CW: xxxxxxxxxxxxx110
SWITCHED ON
SW: xxxxxxxxx01x0011
CW: xxxxxxxxxxxx1111
OPERATION
ENABLED
SW: xxxxxxxxx01x0111
from any state
FAULT REACTION
ACTIVE
SW: xxxxxxxxx0xx1111
Power-on,
self-initialisation
FAULT
SW: xxxxxxxxx0xx1000
Initialised
successfully
CW: xxxxxxxxxxxxx01x
CW: xxxxxxxxxxxxx110
CW: xxxxxxxxxxxx0111
CW: xxxxxxxxxxxxx01x
Chapter 6 – Communication
Fault reaction
completed
CW: xxxxxxxx1xxxxxxx
CW: xxxxxxxxxxxxx01x
or
CW: xxxxxxxxxxxxxx0x
Quick stop
completed
QUICK STOP
ACTIVE
SW: xxxxxxxxx0xx0111
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