Description Of States - Pilz PMCtendo DD5 Operating Manual

EtherCAT
The status word is updated and
written only in Safe-Op and Opera-
tional states by the amplifier.
The control word is read in only in
Operational state.
4.4.1

Description of states

State
Not Ready to Switch
On
Switch On Disable
Ready to Switch On
Switched On
Operation Enable
Quick Stop Active
Fault Reaction Active
Fault
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
Description
Servo amplifier is not ready to switch on; the amplifier has not
signalled operational readiness (BTB). The servo amplifier is still
in the boot phase or in an error state.
In the 'Switch On Disable' state the amplifier cannot be enabled
by the EtherCAT interface, e.g. because there is no power
switched on.
In the 'Ready to Switch On' status the servo amplifier must be
brought to the enable state using the control word.
In 'Switched On' status the amplifier is enable, however the set
values of the EtherCAT interface are not yet accepted. The amp-
lifier is in standstill and a positive edge in Bit 3 of the control word
switches on the actual value acceptance (transition to the Opera-
tion Enable state).
In this state the servo amplifier is enabled and set values are ac-
cepted from the EtherCAT interface.
The servo amplifier follows a quick stop ramp.
The servo amplifier reacts to a fault with an E-STOP ramp.
A fault is present, the drive has been stopped and locked.
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