Vacon CANopen OPTE6, Руководство пользователя

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vacon • 68 CANopen option board interface
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
The table below explains the actions taken in different state transitions and which event triggers
which state transition. If the used drive/application does not support different stop bits in Fixed
Control Word, the stop method will always be according to set stop function.
Current state can be determined by reading the value of Statusword data object and comparing the
value of bits to the table below.
Table 64. State transition events and actions
Transition Event(s) Action(s)
0 Automatic transition after power-on or reset Self-initialization is performed
1 Automatic transition after drive status is 'ready' None
2, 6 Shutdown command None
3 Switch on command None
4 Enable operation command Drive function is enabled
5 Disable operation command Drive function is disabled
7 Disable voltage or quick stop command None
8 Shutdown command Stop by ramp /stop function
9 Disable voltage command Stop by coast / stop function
10, 12 Disable voltage command None
11 Quick stop command Quick stop / stop function
13 Fault signal
Go to fault state and stop by stop
function
14 Automatic transition None
15 Fault reset command
Reset fault if no fault currently
exists on drive
Table 65. Statusword bits
Bits of the statusword
PDS state
15-8 7 6 5 4 3 2 1 0
x x 0 x x 0 0 0 0 Not ready to switch on
x x 1 x x 0 0 0 0 Switch on disabled
x x 0 1 x 0 0 0 1 Ready to switch on
x x 0 1 x 0 0 1 1 Switched on
x x 0 1 x 0 1 1 1 Operation enabled
x x 0 0 x 0 1 1 1 Quick stop active
x x 0 x x 1 1 1 1 Fault reaction active
x x 0 x x 1 0 0 0 Fault
x = Do not care