Estun Summa ED3S, Product Manual

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Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved. 6-4
State Description
Fault
The stop process is completed, and all the drive functions are inhibited.
Parameter setting is allowed for users to eliminate faults.
The control commands and state switchover are described as follows:
CiA402 State Switchover Controlword (6040h) Statusword (6041h)
0 Start → Initialization
Natural transition, and no control
command is required.
0x0000
1 Initialization → No Fault
Natural transition, and no control
command is required.
If an error occurs during
initialization, the Drive directly
goes to state 13.
0x0250
2 No Fault → Ready 0x0006 0x0231
3 Ready → Wait to switch on 0x0007 0x0233
4 Wait to switch on → Running 0x000F 0x0237
5 Running → Wait to switch on 0x0007 0x0233
6 Wait to switch on → Ready 0x0006 0x0231
7 Ready → No Fault 0x0000 0x0250
8 Running → Ready 0x0006 0x0231
9 Ready → No Fault 0x0000 0x0250
10 Wait to switch on → No Fault 0x0000 0x0250
11 Running → Quick stop 0x0002 0x0217
12 Quick stop → No Fault
Set 605Ah to a value among 0 to 2.
Natural transition is performed after
stop, and no control command is
required.
0x0250
13 Stop at fault
Once a fault occurs in any state
other than
Fault , the Drive
automatically switchovers to the
stop at fault state, without control
command. 0x021F
14 Stop at fault → Fault
Natural transition after stop at fault,
and no control command is
required.
0x0218
15 Fault → No Fault 0x80 0x0250
16 Quick stop → Running
Set 605Ah to a value between 5 and
6. After the stop process is
completed, 0x0F is sent after the
stop process is completed.
0x0237