CHAPTER5 CANOPEN COMMUNICATION FUNCTION
16
5.1.8 State Machine
Bit 7
Bit 3
Bit 2
Bit 1
Bit 0
Command bit of
Control word
Fault Reset
Enable
Operation
Quick Stop
Disable
Voltage
Switch On
Transition
Shutdown
0
X
1
1
0
2,6,8
Switch On
0
X
1
1
1
3
Disable Voltage
0
X
X
0
X
7,9,10,12
Quick Stop
0
X
0
1
X
7,10,11
Disable Operation
0
0
1
1
1
5
Enable Operation
0
1
1
1
1
4,16
Fault Reset
0 -> 1
X
X
X
X
15
‘X’ means that any value is allowed.
Power
Power
Power
Power
Enabled
Enabled
Enabled
Enabled
Power
Power
Power
Power
Disabled
Disabled
Disabled
Disabled
Start up
Not Ready to
Switch On
Switch On
Disabled
Ready to
Switch On
Fault
Reaction Active
Fault
Switched On
Operation
Enable
Quick Stop
Active
0
1
2
7
3
6
9
8
4
5
11
16
10
12
15
14
13
