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2 APPENDIX
2.1 CC-Link IE TSN
PDS state transitions
The internal state of the servo amplifier is managed by the PDS state defined in the CiA 402 drive profile specification. The
servo motor can be operated immediately after turning on the power supply by shifting from the "Not ready to switch on" state
to the "Operation enabled" state with the predetermined procedure.
Not ready to
switch on (A)
Switch on
disabled (A)
Ready to
switch on (A)
Switched on (B)
Operation
enabled (C)
Quick stop
active (C)
(1)
(8)
(9)
(10)
(0)
Power off or
sw reset
Power on
(2)
(3)
(6)
(4)
(5)
(7)
(15)
(11)
(12)
(13)
Fault (A)
Fault reaction
active (D)
(14)
(B): Ready-on, Servo-off
Transition by slave
Transition by master
Transition by slave or master
(A): Ready-off, Servo-off
(C): Ready-on, Servo-on
(D): Unstable
