Lust CM-CAN1, User Manual, Page: 52 / 84

5-2
User Manual CM-CAN1
5 Control and reference input
5.1 Controller
enable (ENPO)
The drive units require an additional hardware enable via control terminal
X2/8 ENPO for control over the CAN bus. This control signal is high-
active. When this control signal is removed the motor runs out freely.
Refer also to the description relating to the drive unit in the Operation
Manual.
5.2 CAN system
states
The CAN system state refers to the state of the overall bus system. The
following system states are currently supported:
• System logon
After power-on each drive unit is in the System Stop state.
In this state the drive controller transmits the logon identifier 1543
(607 h) + CAN address every 100 ms.
• System Stop
In this state parameters can be set over the bus or control com-
mands and reference values can be transmitted to the individual
devices. The control commands and reference values are only
stored, however (1 reference / 1 control command) and are not
executed until the System
Start system state.
• System Start
System Start is the normal operating state. The devices can be
controlled by way of their selective control commands. If control
commands were transmitted to the devices during System Stop, they
are not executed in the drive unit until the switch is made to System
Start. This method permits presetting of the individual devices before
the complete system is up and running. On System Start all the
devices then receive their start command synchronously (1 ms jitter).
State transitions are triggered as specified in section 5.5.4 “System
Start/Stop”.
5.3 Device states
In contrast to the CAN system state, which describes the status of the
entire bus system, the device states in the various devices of a bus sys-
tem may vary.
The device state is determined, firstly, by the selective control commands
over the bus and, secondly, by means of information from the respective
process. For example, an error in an application results in a change of
device state.
The devices run a so-called state machine, which assigns defined
responses to events for each state.