Canopen Device State Machine - Siemens Sinamics S120 Commissioning Manual

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2.8 CANopen device state machine

2.8 CANopen device state machine
The CANopen device state machine describes the drive status and the possible drive device
status transitions. Each individual status describes a particular internal or external behavior.
Depending on the drive device status, only certain transition commands are accepted.
The drive device status is changed using a defined CANopen control word (6040 hex/r8795)
– and/or corresponding to an internal event. The actual status can be read from the
CANopen status word (6041 hex/r8784).
Table 2- 11
Status
Not Ready to Switch On
Switch On Disabled
Ready to Switch On
Switched On
Operation Enable
Quick Stop Active
Fault Reaction Active
Fault
74
Status of the CANopen device machine
Condition
Low power is present at the drive.
The drive is initialized.
The drive function is deactivated.
Drive initialization has been completed.
The drive parameters may be changed.
The drive function is deactivated.
It is not permissible that a high voltage is connected to the drive.
The drive parameters may be changed.
The drive function is deactivated.
It is permissible that a high voltage is connected to the drive.
The drive parameters may be changed.
The drive function is deactivated.
A high voltage was connected to the drive.
The current amplifier is ready.
No faults were identified.
The drive parameters may be changed.
The drive-function is activated and the motor is supplied with current.
This corresponds to normal drive operation.
The quick stop function is executed.
The drive parameters may be changed.
The drive-function is activated and the motor is supplied with current.
A non-fatal fault has occurred at the drive.
The quick stop function is executed.
The drive parameters may be changed.
The drive-function is activated and the motor is supplied with current.
The drive parameters may be changed.
A fault has occurred at the drive.
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
CANopen interface