5 General concepts
h
must be set and, if necessary, the corresponding DIP switch on.
5.2 CiA 402 Power State Machine
5.2.1 State machine
5.2.1.1 CiA 402
To switch the controller to the ready state, it is necessary to run through a state machine. This is defined in
CANopen standard 402. State changes are requested in object 6040
h
(controlword). The actual state of the
state machine can be found in object 6041
(statusword).
5.2.1.2 Controlword
State changes are requested via object 6040
(controlword).
State transitions
The diagram shows the possible state transitions.
Not ready to
switch on
Start
Software cannot
rectify error
Switched on
disabled
Ready to
switch on
Switched on
Operation
enabled
3
Quick stop
active
10
Fault
Fault reaction
active
Error occures
No. of the transfer (see
table for explanation)
Torque
voltage switched on for controller
High-level voltage switched on
High-level power
voltage switched on for controller
High-level voltage switched on
No torque at motor
Low-level power
voltage switched on for controller
High-level voltage can be switched on
4
2
5
8
7
1
6
9
13
12
State
without
voltage at
Motor
State
with
voltage at
Motor
Selection of
operating mode
admissible
Selection of
operating mode
not
admissible
Version: 2.0.1 / FIR-v1650
37