CL3-E CANopen/USB Technical Manual

DS402 Power State machine

State machine

CANopen DS402

To switch the motor controller to an operational state, a state machine must be run through. This is defined in CANopen standard DS402. State changes are requested in object 6040h (control word). The actual state of the state machine can be read out from object 6041h (status word).

Control word

State changes are requested via object 6040h (control word). The following table lists the bit combinations that lead to the corresponding state transitions.

State transitions

The diagram shows the possible state transitions.

The following table lists the bit combinations for the control word that lead to the corresponding state transitions. An X corresponds to a bit state that is no longer to be considered. The single exception is the fault reset: The transition is only requested by the rising flank of the bit.

Command Bit in object 6040h Transition
  Bit 7 Bit 3 Bit 2 Bit 1 Bit 0  
Shutdown 0 X 1 1 0 1, 5, 8
Switch on 0 0 1 1 1 2
Disable voltage 0 X X 0 X 6, 7, 9, 12
Quick stop 0 X 0 1 X 10
Disable operation 0 0 1 1 1 4
Enable operation 0 1 1 1 1 3
Fault reset X X X X 13

Holding torque in state "Switched On"

In the state "Switched On" no holding torque is build up by default. If a holding torque is necessary, the value "1" needs to be written in the object 3212h:01h.

CAUTION
If the option "Holding torque in state Switched on" is enabled, it is possible that the motor gives a start when switching the operating modes.

Status word

The following table lists the bit masks that describe the state of the motor controller.


Status word (6041h) State
xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switched on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault

The motor controller reaches the "Switch on" state after it is switched on and the self-test is successful.

Operating mode

The set operating mode (6060h) becomes active in the "Operation enabled" state. The actually active operation mode is displayed in 6061h.

The operating mode can only be set or changed in the following states (see states enclosed by a dashed line in the diagram):

  • Switch on disabled
  • Ready to switch on
  • Switched on

During operation ("Operation enabled"), it is not possible to change the operating mode. The "Fault" state is left when bit 7 in object 6040h (control word) is set from "0" to "1" (rising flank).

Note: If an error that cannot be corrected occurs, the motor controller changes to the "Not ready to switch on" state and stays there. These errors includes an encoder error (e.g. due to missing shielding, cable breakage)

Behavior after the "Operation enabled" state is left

Brake reactions

Different brake reactions can be programmed when leaving the "Operation enabled" state.

These include the transitions described below.

The following diagram shows an overview of the brake reactions.

Quick stop active

Transition to the "Quick stop active" state (quick stop option):

In this case, the action stored in object 605Ah is executed (see the following table).


Value in object 605Ah Description
-32768 to -1 Reserved
0 Immediate stop with short-circuit braking
1 Braking with "slow down ramp" (deceleration depending on operating mode) and subsequent state change to "Switch on disabled"
2 Braking with "quick stop ramp" and subsequent state change to "Switch on disabled"
3 to 32767 Reserved

Ready to switch on

Transition to the "Ready to switch on" state (shutdown option):

In this case, the action stored in object 605Bh is executed (see the following table).


Value in object 605Bh Description
-32768 to -1 Reserved
0 Immediate stop with short-circuit braking
1 Braking with "slow down ramp" (deceleration depending on operating mode) and subsequent state change to "Switch on disabled"
2 to 32767 Reserved

Switched on

Transition to the "Switched on" state (disable operation option):

In this case, the action stored in object 605Ch is executed (see the following table).


Value in object 605Ch Description
-32768 to -1 Reserved
0 Immediate stop with short-circuit braking
1 Braking with "slow down ramp" (deceleration depending on operating mode) and subsequent state change to "Switch on disabled"
2 to 32767 Reserved

Halt

This bit is available in the following modes:

When bit 8 is set in object 6040h (control word), the response stored in 605Dh is executed (see the following table).


Value in object 605Dh Description
-32768 to 0 Reserved
1 Braking with "slow down ramp" (deceleration depending on operating mode)
2 Braking with "quick stop ramp" (deceleration depending on operating mode)
3 to 32767 Reserved

Fault

If an error should occur, the motor is braked as stored in object 605Eh.


Value in object 605Eh Description
-32768 to -1 Reserved
0 Immediate stop with short-circuit braking
1 Braking with "slow down ramp" (deceleration depending on operating mode)
2 Braking with "quick stop ramp" (deceleration depending on operating mode)
3 to 32767 Reserved

Contouring Error

If a contouring error should occur, the motor is braked as stored in object 3700h.

Value Description
-32768 to -1 Reserved
0 Immediate stop with short-circuit braking
1 Braking with "slow down ramp" (deceleration depending on operating mode)
2 Braking with "quick stop ramp" (deceleration depending on operating mode)
3 to 32767 Reserved

To deactivate the check for the contouring error, set the object 6065h to the value "-1" (FFFFFFFFh).

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