Intelligent Motion Systems MDrive DSP-402, Application Manual

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27 Part 2: DSP-402 Implementation
Power Disabled
Power Enabled
Fault
Start
Not Ready to Switch On
Fault Reaction Active
Fault
Switch On Disabled
Ready To Switch On
0
1
2
7
4
5
6
Switched On
Operation Enable Quick Stop Active
9 3 8
16
11
10 12
14
13
15
Controlword 6040
h
Internal
Event
Statusword
6041
h
SUPPORT FOR FAULT
STATES UNDER
DEVELOPMENT
Figure 4.2: State Machine States/Transitions Block Diagram
Notes On State Transitions

Commands directing a change in state are processed completely and the new state achieved before additional state
change commands are processed.

Transitions 0 and 1 occur automatically at drive power-on or reset. All other state changes must be directed by the
host.

Drive function disabled indicates that no current is being supplied to the motor.

Drive function enabled indicates that current is available for the motor and profile position and profile velocity
reference values may be processed.