Drive User Guide
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6. State Machine of CiA402
Servo drive uses CANopen finite state machine (FSM) to define its state and the corresponding
servo control function. Master station uses ControlWord object (0x6040) to control the switch of drive
state and the drive uses StatusWord object (0x6041) to respond the current state of drive to the master
station. The figure shown below is the state machine receiving order and switching state.
The chart below describes the various state machines:
State
Description
Not Ready to Switch On
Drive is in the state of not ready to read.
Switch On Disabled
Drive’s main power switch is turned off and motor cannot be
magnetized.
Ready to Switch On
Drive’s main power switch is pending to turn on and motor cannot
be magnetized.
Switch on
Drive’s main power switch is turned on and motor can be
magnetized through the set up of ControlWord.
Operation enabled
Motor has been magnetized and the drive can be operated normally.
Fault reaction active
Drive occurs error and activates corresponding motion.
Fault
Drive occurs error and has activated corresponding motion. Under
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