CANopen Status Machine

The states of the status machine The complete assembly of all connected parts or devices, of which at least one is movable. are revealed by using the CANopen Status Word.

Figure 1: CANopen Status Machine

The start state is a pseudo-state indicating the start when the state machine is activated during the start-up sequence of the device drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils.'s application software.

Status Description

Status	Description
Fault	A fault is active. The drive has been stopped and disabled Removal of the ENABLE signal. Disables power stage..
Fault reaction active	A fault has occurred. The drive is stopped with the emergency stop ramp The gradual acceleration and deceleration of a stepping motor. This is essential if performance beyond the start/stop range is required. The slope of the ramp is a function of screw pitch, load, drive voltage and design, and motor..
Not ready to switch on	The drive is not ready to switch on. The controller has not indicated readiness for service. The drive is still in the boot phase or in the fault status
Operation enabled Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive.	The drive is enabled and the setpoints The target value that an automatic control system (e.g., PID controller) aims to reach. are transferred from the EtherCAT Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. interface. No fault present. Output stage is enabled. Motion functions A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. are enabled.
Quick stop active	The drive has been stopped with the quick stop ramp. Output stage is enabled. Motion functions are not enabled.
Ready to switch on	The drive can be enabled via the control word. DC-link voltage can be switched on. Parameters can be transferred Motion functions cannot be performed yet.
Switch on disabled	The drive cannot be enabled via the EtherCAT interface. Example: There is no connection to a power source.
Switched on	The drive is enabled but the setpoints are not yet transferred from the EtherCAT interface. The drive is idle. DC-link voltage must be switched on. Parameters can be transferred but motion functions cannot be performed yet. Output stage is switched on (enabled). Operation Enable No fault present; output stage is enabled; motion functions are enabled.

Transitions of the Status Machine

The drive device supports these transitions and actions.

The event initiates the transition.
The transition is terminated after the action has been performed.

Transition Events and Actions

Transition	Event	Action
0	Automatic transition after power-on or reset New start of the microprocessor. application.	Drive device self-test and/or self initialization has to be performed.
1	Automatic transition	Communication has to be activated.
2	Shutdown command from control device or local signal.	None
3	Switch on command received from control device or local signal.	The high-level power has to be switched ON, if possible.
4	Enable operation command received from control device or local signal.	The drive function has to be enabled. All internal setpoints cleared.
5	Disable operation command received from control device or local signal.	The drive function has to be disabled.
6	Shutdown command received from control device or local signal.	The high-level power has to be switched OFF, if possible.
7	Quick stop or disable voltage command from control device or local signal.	None
8	Shutdown command from control device or local signal.	The drive function has to be disabled. The high-level power has to be switched OFF, if possible.
9	Disable voltage command from control device or local signal.	The drive function has to be disabled. The high-level power has to be switched OFF, if possible.
10	Disable voltage or quick stop command from control device or local signal.	The high-level power has to be switched OFF, if possible.
11	Quick stop command from control device or local signal.	The quick stop function has to be started.
12	Either: Automatic transition when the quick stop function is completed and quick stop option code is 1, 2, 3 or 4. Disable voltage command received from control device (depends on the quick stop option code).	The drive function has to be disabled. The high-level power has to be switched OFF, if possible.
13	Fault signal	The configured fault reaction function has to be executed.
14	Automatic transition	The drive function has to be disabled. The high-level power has to be switched OFF, if possible.
15	Fault reset command from control device or local signal.	A reset of the fault condition is performed if no fault exists currently on the drive device. After leaving the Fault state, the Fault reset bit in the control word has to be cleared by the control device.
16	If the quick stop option code is 5, 6, 7, or 8, enable operation command from control device	The drive function has to be enabled.

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