EtherCAT
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
19
The status word is updated and
written only in
Safe-Op
and
Opera-
tional
states by the amplifier.
The control word is read in only in
Operational
state.
4.4.1
Description of states
State
Description
Not Ready to Switch
On
Servo amplifier is not ready to switch on; the amplifier has not
signalled operational readiness (BTB). The servo amplifier is still
in the boot phase or in an error state.
Switch On Disable
In the ‘Switch On Disable’ state the amplifier cannot be enabled
by the EtherCAT interface, e.g. because there is no power
switched on.
Ready to Switch On
In the ’Ready to Switch On’ status the servo amplifier must be
brought to the enable state using the control word.
Switched On
In ’Switched On’ status the amplifier is enable, however the set
values of the EtherCAT interface are not yet accepted. The amp-
lifier is in standstill and a positive edge in Bit 3 of the control word
switches on the actual value acceptance (transition to the Opera-
tion Enable state).
Operation Enable
In this state the servo amplifier is enabled and set values are ac-
cepted from the EtherCAT interface.
Quick Stop Active
The servo amplifier follows a quick stop ramp.
Fault Reaction Active
The servo amplifier reacts to a fault with an E-STOP ramp.
Fault
A fault is present, the drive has been stopped and locked.
