2 APPENDIX
2.1 CC-Link IE TSN
27
2
Events and PDS state transitions
Setting Controlword enables control of the state transitions.
After the PDO communication is established (after the NMT state has reached "Operational"), the status is controlled by the
master station transmitting commands (by setting Controlword) in accordance with the following table.
The following shows the PDS state transition events and operations.
*1 This event occurs when "1" (Quick stop active) is selected in [Pr. PF29.1 State selection with forced stop in progress].
Transition No.
Event
Operation
(0)
Power supply is turned on
Initialization
(1)
Transitions automatically when the power supply is turned on
Communication setting
(2)
Transitions with the "Shutdown" command from the master station
None
(3)
Transitions with the "Switch On" command from the master station
The dynamic brake is released.
(4)
Transitions with the "Enable Operation" command from the master
station
The operation becomes ready after servo-on.
(5)
Transitions with the "Disable Operation" command from the
master station
The operation is disabled after servo-off.
(6)
Transitions with the "Shutdown" command from the master station
The dynamic brake operates.
(7)
Transitions with the "Disable Voltage" command or "Quick Stop"
command from the master station
None
(8)
• Transitions with the "Shutdown" command from the master
station
• Transition when the power supply turned off
The operation is disabled after servo-off and dynamic braking.
(9)
Transitions with the "Disable Voltage" command from the master
station
The operation is disabled after servo-off and dynamic braking.
(10)
Transitions with the "Disable Voltage" command or "Quick Stop"
command from the master station
The dynamic brake operates.
(11)
(A) Transitions with the "Quick Stop" command from the master
station
(B) Transitions when the forced stop signal is turned off
Quick Stop starts.
(12)
Transitions automatically after the completion of Quick Stop (when
the value of [Quick stop option code (Obj. 605Ah)] is any of 1, 2, 3,
or 4)
The operation is disabled after servo-off and dynamic braking.
(13)
Alarm occurrence
Processing against the alarm is executed.
(14)
Automatic transition
After the completion of the alarm occurrence processing, the
operation is disabled by servo-off and the dynamic brake.
(15)
Transitions with the "Fault Reset" command from the master
station
An alarm reset is performed. Resettable alarms are cleared.
