Coe State Machine - INVT Goodrive350 Series Operation Manual

Communication extension card
current state of the drive by reading the status word (0x6041). The servo drive implements
motor control based on master station control commands.

6.5.1 CoE state machine

Enabled
Status
Not Ready to Switch On
Switch On Disabled
Ready to Switch On
Switched On
Operation Enable
Quick Stop Active
Fault Reaction Active
Power
Disabled
Not Ready to
Switch On
Switch On Disabled
2
Ready to
Switch On
3
9
Power
8
Switch On
4
Operation
Enable
Figure 6-7 CANopen over EtherCAT state machine
Start
0
1
7
10
6
12
5
11
16
The drive is in the initialization process.
Drive initialization completes.
The drive is preparing to enter the Switch On state,
but the motor is not excited.
The drive is in the ready state, and the main circuit
power supply is normal.
The drive is enabled and controls the motor based
on the control mode.
The drive stops in the set manner.
When detecting an alarm, the drive stops in the set
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EtherCAT communication card
Fault
13
Fault Reaction
Active
14
Fault
15
Quick Stop
Active
Description