Canopen Device State Machine - Siemens SINAMICS S120 Commissioning Manual

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1.18 CANopen device state machine

1.18 CANopen device state machine
The CANopen device state machine describes the device 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 control word and/or corresponding to an
internal event. The current status can be read from the status word of the CANopen.
Table 1- 16
Status
Not Ready to Switch On
Switch On Disabled
Ready to Switch On
Switched On
Operation Enable
Quick Stop Active
Fault Reaction Active
Fault
48
Statuses of the CANopen device machine
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Condition
Low level power has been applied to the drive.
The drive is being initialized.
The drive function is disabled.
Drive initialization is complete.
Drive parameters may be changed.
The drive function is disabled.
High voltage may not be applied to the drive.
The drive parameters may be changed.
The drive function is disabled.
High voltage may be applied to the drive.
The drive parameters may be changed.
The drive function is disabled.
High voltage has been applied to the drive.
The power amplifier is ready.
No faults have been detected.
The drive parameters may be changed.
The drive function is enabled and power is
applied to the motor.
This corresponds to normal operation of the
drive.
The Quick Stop function is being executed.
The drive parameters may be changed.
The drive function is enabled and power is
applied to the motor.
A non-fatal fault has occurred in the drive.
The Quick Stop function is being executed.
The drive parameters may be changed.
The drive function is enabled and power is
applied to the motor.
The drive parameters may be changed.
A fault has occurred in the drive.
CANopen interface