Leadshine EL8-EC Series User Manual page 181

Status
Initialization starts
Initialization done
Ready
Enable
Running
Quick stop
Fault triggered
Fault
402 state machine switching is dependent on master device controlled servo driver control
word (6040h)
CiA402 status switching
0 Power on Initialization
1 Initialization
2 Faultless-- Ready
3 Servo ready-- Waiting to enable
4 Waiting to enable-- Running
5 Running Waiting to enable
6 Waiting to enable
7 Ready Faultless
8 Running Ready
9 Running-- Faultless
10 Waiting to enable
11 Running-- Quick stop
12 Quick stop Faultless
13 Fault stop
14 Fault stop--
15 Fault Faultless
16 Quick stop-- Running
Table 5.1 Status description
Description
Driver powered on, initialization starts; Holding brake activated; Axis
disabled
Initialization done; Parameters initialize, faultless; Axis disabled.
Parameter initialization done; Axis disabled.
Servo driver is ready to be enabled.
Driver enabled, faultless
Quick stop activated
Alarm not solved yet; Axis disabled.
Alarm solved. Waiting to switch from 402 state machine to Initialization
starts; Axis disabled.
Faultless
Ready
Faultless
Fault
User manual of EL8-EC***F AC Servo
Control word 6040h
Transit automatically
Transit automatically,
Enter 13 if fault occurs
0x0006
0x0007
0x000F
0x0007
0x0006
0x0000
0x0006
0x0000
0x0000
0x0002
Transit automatically
Transit automatically
Transit automatically
0x80
0x0F
Status word 6041h
Bit1-Bit9
0x0000
0x0250
0x0231
0x0233
0x0237
0x0233
0x0231
0x0250
0x0231
0x0250
0x0250
0x0217
0x0250
0x021F
0x0218
0x0250
0x0237
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