Delta ASDA-A3 Series User Manual page 1005

CANopen Mode
Finite state machine (as shown in the following diagram) defines the behavior of a servo drive
system. Each state represents an internal or external behavior. For example, the servo drive
12
can execute point-to-point motion only in the Operation enabled state.
The state transition is defined as follows:
Transition
13, 14
12-56
10
12
16
Quick Stop
11
0, 1 Automatic transition after power-on
2 Shutdown command
3 Switch on command
4 Enable operation command
5 Disable operation command
6 Shutdown command
7 Disable voltage or quick stop command
8 Shutdown command
9 Disable voltage command
10 Disable voltage or quick stop command
Quick stop command
The following two errors belong to this quick
stop type:
11
Positive / negative limit switch triggered
1.
Quick stop triggered by the
2.
Controlword (OD 6040h [Bit 2] = 0)
Disable voltage command
12 (OD 6040h = 0000 0110 or
OD 6040h [Bit 1] = 0)
Alarm occurs
15 Fault reset
16 Enable operation command; no alarm
Start
0, 1
Switch On
disabled
2
7
Ready to
switch on
3
6
8
Switch on
4
5
Operation
enabled
Event
15
Fault
9
13, 14
Action
Device boot and initialization
N/A
Servo is ready for Servo On
Servo switches to Servo On and
enters the mode in which the
controller is allowed to issue a
motion command.
Servo switches to Servo Off
N/A
N/A
Servo switches to Servo Off
Servo switches to Servo Off
N/A
Quick stop function is enabled.
The time setting for deceleration
to a stop is different for the two
errors.
1. OD 2503h (P5.003)
2. OD 6085h
Servo switches to Servo Off
Servo switches to Servo Off
N/A
Motion operation restart. The
restart action is mode-dependent.
ASDA-A3