Communication extension card
EtherCAT communication card
-87-
current state of the drive by reading the status word (0x6041). The servo drive implements
motor control based on master station control commands.
6.5.1 CoE state machine
Power
Disabled
Start
Not Ready to
Switch On
Switch On Disabled
Ready to
Switch On
Fault
Fault Reaction
Active
Fault
Power
Enabled
Switch On
Operation
Enable
Quick Stop
Active
0
1
2
7
3
6
4
5
11
16
8
9
10
12
13
14
15
Figure 6-7 CANopen over EtherCAT state machine
Status
Description
Not Ready to Switch On
The drive is in the initialization process.
Switch On Disabled
Drive initialization completes.
Ready to Switch On
The drive is preparing to enter the Switch On state,
but the motor is not excited.
Switched On
The drive is in the ready state, and the main circuit
power supply is normal.
Operation Enable
The drive is enabled and controls the motor based
on the control mode.
Quick Stop Active
The drive stops in the set manner.
Fault Reaction Active
When detecting an alarm, the drive stops in the set
Summary of Contents for Goodrive350 Series
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Page 104: ...Communication extension card EtherCAT communication card 99...
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