4.4 CANopen over EtherCAT (CoE) State Machine
The state machine for the control and
status words corresponds to the
CANopen state machine in accordance
with DS402.
CANopen control and status words are
captured in every instance of fixed PDO
mapping (see chapter "Fixed PDO Map-
pings" (
p. 42)).
4.4.1 Status Description
Status
Description
Not Ready to Switch On The drive is not ready to switch on; the controller has not indicated readiness for ser-
vice. The drive is still in the boot phase or in fault status.
Switch On Disable
In 'Switch On Disable' status, the amplifier cannot be enabled via the EtherCAT inter-
face, because (for example) there is no connection to a power source.
Ready to Switch On
In 'Ready to Switch On' status, the drive can be enabled via the control word.
Switched On
In 'Switched On' status, the amplifier is enabled, but the setpoints of the EtherCAT-
interface are not yet transferred. The amplifier is idle, and a positive edge in bit 3 of
the control word activates setpoint transfer (transition to 'Operation Enable' status).
Operation Enable
In this status, the drive is enabled and setpoints are transferred from the EtherCAT
interface.
Quick Stop Active
The drive follows a quick stop ramp.
Fault Reaction Active
The drive responds to a fault with an emergency stop ramp.
Fault
A fault is pending, the drive is stopped and disabled.
AKD EtherCAT | 4 EtherCAT Profile
Kollmorgen | kdn.kollmorgen.com | October 2017
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