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CANopen Mode

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ASDA-A3

12

Finite state machine (as shown in the following diagram) defines the behavior of a servo drive

system. Each state represents an internal or external behavior. For example, the servo drive

can execute point-to-point motion only in the Operation enabled state.

Start

0, 1

Switch On

disabled

27

Ready to

10

switch on

12

36

16

Quick Stop

11

Switch on

45

Operation

enabled

15

Fault

9

8

13, 14

The state transition is defined as follows:

Transition

0, 1

2

3

4

5

6

7

8

9

10

11

12

13, 14

15

16

Event

Automatic transition after power-on

Shutdown command

Switch on command

Enable operation command

Disable operation command

Shutdown command

Disable voltage or quick stop command

Shutdown command

Disable voltage command

Disable voltage or quick stop command

Quick stop command

The following two errors belong to this quick

stop type:

1. Positive / negative limit switch triggered

2. Quick stop triggered by the

Controlword (OD 6040h [Bit 2] = 0)

Disable voltage command

(OD 6040h = 0000 0110 or

OD 6040h [Bit 1] = 0)

Alarm occurs

Fault reset

Enable operation command; no alarm

Action

Device boot and initialization

N/A

Servo is ready for Servo On

Servo switches to Servo On and

enters the mode in which the

controller is allowed to issue a

motion command.

Servo switches to Servo Off

N/A

N/A

Servo switches to Servo Off

Servo switches to Servo Off

N/A

Quick stop function is enabled.

The time setting for deceleration

to a stop is different for the two

errors.

1. OD 2503h (P5.003)

2. OD 6085h

Servo switches to Servo Off

Servo switches to Servo Off

N/A

Motion operation restart. The

restart action is mode-dependent.

12-56

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