CiA 402 Power State Machine State machine CiA 402 To switch the controller to the ready state, it is necessary to run through a state machine. This is defined in CANopen standard 402. State changes are requested in object 6040h (controlword). The actual state of the state machine can be found in object 6041h (statusword). Controlword State changes are requested via object 6040h (controlword). State transitions The diagram shows the possible state transitions. Listed in the following table are the bit combinations for the controlword that result in the corresponding state transitions. An X here corresponds to a bit state that requires no further consideration. The only exception is the resetting of the error (fault reset): the transition is only requested by the rising edge 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 the Switched on state Ex works, no holding torque is built up in the Switched on state. If a holding torque is already needed in this state, the value "1" must be written in 3212h:01h. Note: If the Holding torque in the switched on state option is active, changing the operating mode may cause the motor to jerk. Statusword Listed in the following table are the bit masks that break down the state of the controller. Statusword (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 After switching on and successfully completing the self-test, the controller reaches the Switch on disabled state. Operating mode The set operating mode (6060h) does not become active until the Operation enabled state. The actually active operating mode is displayed in 6061h. The operating mode can only be set or changed in the following states (see states enclosed in a dashed border in the diagram): Switch on disabled Ready to switch on Switched on It is not possible to change the operating mode in running operation (Operation enabled). The Fault state is exited if bit 7 in object 6040h (controlword) is set from "0" to "1" (rising edge). Note: If an unrecoverable error occurs, the controller changes to the Not ready to switch on state and remains there.Furthermore, this state can be reached by means of a bus error with fieldbus type EtherCAT. In this case – after the bus error is rectified – the state automatically changes back to the Switch on disabled state. Behavior upon exiting the Operation enabled state Halt motion reactions Various halt motion reactions can be programmed upon exiting the Operation enabled state. The following graphic shows an overview of the halt motion 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 following table). Value in object 605Ah Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking 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 … 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 following table). Value in object 605Bh Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on operating mode) and subsequent state change to Switch on disabled 2 … 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 following table). Value in object 605Ch Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on operating mode) and subsequent state change to Switch on disabled 2 … 32767 Reserved Halt The bit is valid in the following modes: Profile Position Velocity Profile Velocity Profile Torque Interpolated Position Mode When setting bit 8 in object 6040h (controlword), the reaction stored in 605Dh is executed (see following table): Value in object 605Dh Description -32768 … 0 Reserved 1 Braking with slow down ramp (braking deceleration depending on operating mode) 2 Braking with quick stop ramp (braking deceleration depending on operating mode) 3 … 32767 Reserved Fault Case of an error (fault): If an error occurs, the motor will brake according to the value stored in object 605Eh. Value in object 605Eh Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on control mode) 2 Braking with quick stop ramp (braking deceleration depending on control mode) 3 … 32767 Reserved Following error If a following error occurs, the motor will brake according to the value stored in object 3700h. Value Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on control mode) 2 Braking with quick stop ramp (braking deceleration depending on control mode) 3 … 32767 Reserved Following error monitoring can be deactivated by setting object 6065h to the value "-1" (FFFFFFFFh).
CiA 402 Power State Machine State machine CiA 402 To switch the controller to the ready state, it is necessary to run through a state machine. This is defined in CANopen standard 402. State changes are requested in object 6040h (controlword). The actual state of the state machine can be found in object 6041h (statusword). Controlword State changes are requested via object 6040h (controlword). State transitions The diagram shows the possible state transitions. Listed in the following table are the bit combinations for the controlword that result in the corresponding state transitions. An X here corresponds to a bit state that requires no further consideration. The only exception is the resetting of the error (fault reset): the transition is only requested by the rising edge 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 the Switched on state Ex works, no holding torque is built up in the Switched on state. If a holding torque is already needed in this state, the value "1" must be written in 3212h:01h. Note: If the Holding torque in the switched on state option is active, changing the operating mode may cause the motor to jerk. Statusword Listed in the following table are the bit masks that break down the state of the controller. Statusword (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 After switching on and successfully completing the self-test, the controller reaches the Switch on disabled state. Operating mode The set operating mode (6060h) does not become active until the Operation enabled state. The actually active operating mode is displayed in 6061h. The operating mode can only be set or changed in the following states (see states enclosed in a dashed border in the diagram): Switch on disabled Ready to switch on Switched on It is not possible to change the operating mode in running operation (Operation enabled). The Fault state is exited if bit 7 in object 6040h (controlword) is set from "0" to "1" (rising edge). Note: If an unrecoverable error occurs, the controller changes to the Not ready to switch on state and remains there.Furthermore, this state can be reached by means of a bus error with fieldbus type EtherCAT. In this case – after the bus error is rectified – the state automatically changes back to the Switch on disabled state. Behavior upon exiting the Operation enabled state Halt motion reactions Various halt motion reactions can be programmed upon exiting the Operation enabled state. The following graphic shows an overview of the halt motion 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 following table). Value in object 605Ah Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking 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 … 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 following table). Value in object 605Bh Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on operating mode) and subsequent state change to Switch on disabled 2 … 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 following table). Value in object 605Ch Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on operating mode) and subsequent state change to Switch on disabled 2 … 32767 Reserved Halt The bit is valid in the following modes: Profile Position Velocity Profile Velocity Profile Torque Interpolated Position Mode When setting bit 8 in object 6040h (controlword), the reaction stored in 605Dh is executed (see following table): Value in object 605Dh Description -32768 … 0 Reserved 1 Braking with slow down ramp (braking deceleration depending on operating mode) 2 Braking with quick stop ramp (braking deceleration depending on operating mode) 3 … 32767 Reserved Fault Case of an error (fault): If an error occurs, the motor will brake according to the value stored in object 605Eh. Value in object 605Eh Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on control mode) 2 Braking with quick stop ramp (braking deceleration depending on control mode) 3 … 32767 Reserved Following error If a following error occurs, the motor will brake according to the value stored in object 3700h. Value Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on control mode) 2 Braking with quick stop ramp (braking deceleration depending on control mode) 3 … 32767 Reserved Following error monitoring can be deactivated by setting object 6065h to the value "-1" (FFFFFFFFh).
State machine CiA 402 To switch the controller to the ready state, it is necessary to run through a state machine. This is defined in CANopen standard 402. State changes are requested in object 6040h (controlword). The actual state of the state machine can be found in object 6041h (statusword). Controlword State changes are requested via object 6040h (controlword). State transitions The diagram shows the possible state transitions. Listed in the following table are the bit combinations for the controlword that result in the corresponding state transitions. An X here corresponds to a bit state that requires no further consideration. The only exception is the resetting of the error (fault reset): the transition is only requested by the rising edge 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 the Switched on state Ex works, no holding torque is built up in the Switched on state. If a holding torque is already needed in this state, the value "1" must be written in 3212h:01h. Note: If the Holding torque in the switched on state option is active, changing the operating mode may cause the motor to jerk. Statusword Listed in the following table are the bit masks that break down the state of the controller. Statusword (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 After switching on and successfully completing the self-test, the controller reaches the Switch on disabled state. Operating mode The set operating mode (6060h) does not become active until the Operation enabled state. The actually active operating mode is displayed in 6061h. The operating mode can only be set or changed in the following states (see states enclosed in a dashed border in the diagram): Switch on disabled Ready to switch on Switched on It is not possible to change the operating mode in running operation (Operation enabled). The Fault state is exited if bit 7 in object 6040h (controlword) is set from "0" to "1" (rising edge). Note: If an unrecoverable error occurs, the controller changes to the Not ready to switch on state and remains there.Furthermore, this state can be reached by means of a bus error with fieldbus type EtherCAT. In this case – after the bus error is rectified – the state automatically changes back to the Switch on disabled state.
CiA 402 To switch the controller to the ready state, it is necessary to run through a state machine. This is defined in CANopen standard 402. State changes are requested in object 6040h (controlword). The actual state of the state machine can be found in object 6041h (statusword).
Controlword State changes are requested via object 6040h (controlword). State transitions The diagram shows the possible state transitions. Listed in the following table are the bit combinations for the controlword that result in the corresponding state transitions. An X here corresponds to a bit state that requires no further consideration. The only exception is the resetting of the error (fault reset): the transition is only requested by the rising edge 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 the Switched on state Ex works, no holding torque is built up in the Switched on state. If a holding torque is already needed in this state, the value "1" must be written in 3212h:01h. Note: If the Holding torque in the switched on state option is active, changing the operating mode may cause the motor to jerk.
State transitions The diagram shows the possible state transitions. Listed in the following table are the bit combinations for the controlword that result in the corresponding state transitions. An X here corresponds to a bit state that requires no further consideration. The only exception is the resetting of the error (fault reset): the transition is only requested by the rising edge 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 the Switched on state Ex works, no holding torque is built up in the Switched on state. If a holding torque is already needed in this state, the value "1" must be written in 3212h:01h. Note: If the Holding torque in the switched on state option is active, changing the operating mode may cause the motor to jerk.
Statusword Listed in the following table are the bit masks that break down the state of the controller. Statusword (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 After switching on and successfully completing the self-test, the controller reaches the Switch on disabled state.
Operating mode The set operating mode (6060h) does not become active until the Operation enabled state. The actually active operating mode is displayed in 6061h. The operating mode can only be set or changed in the following states (see states enclosed in a dashed border in the diagram): Switch on disabled Ready to switch on Switched on It is not possible to change the operating mode in running operation (Operation enabled). The Fault state is exited if bit 7 in object 6040h (controlword) is set from "0" to "1" (rising edge). Note: If an unrecoverable error occurs, the controller changes to the Not ready to switch on state and remains there.Furthermore, this state can be reached by means of a bus error with fieldbus type EtherCAT. In this case – after the bus error is rectified – the state automatically changes back to the Switch on disabled state.
Behavior upon exiting the Operation enabled state Halt motion reactions Various halt motion reactions can be programmed upon exiting the Operation enabled state. The following graphic shows an overview of the halt motion 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 following table). Value in object 605Ah Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking 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 … 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 following table). Value in object 605Bh Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on operating mode) and subsequent state change to Switch on disabled 2 … 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 following table). Value in object 605Ch Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on operating mode) and subsequent state change to Switch on disabled 2 … 32767 Reserved Halt The bit is valid in the following modes: Profile Position Velocity Profile Velocity Profile Torque Interpolated Position Mode When setting bit 8 in object 6040h (controlword), the reaction stored in 605Dh is executed (see following table): Value in object 605Dh Description -32768 … 0 Reserved 1 Braking with slow down ramp (braking deceleration depending on operating mode) 2 Braking with quick stop ramp (braking deceleration depending on operating mode) 3 … 32767 Reserved Fault Case of an error (fault): If an error occurs, the motor will brake according to the value stored in object 605Eh. Value in object 605Eh Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on control mode) 2 Braking with quick stop ramp (braking deceleration depending on control mode) 3 … 32767 Reserved Following error If a following error occurs, the motor will brake according to the value stored in object 3700h. Value Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on control mode) 2 Braking with quick stop ramp (braking deceleration depending on control mode) 3 … 32767 Reserved Following error monitoring can be deactivated by setting object 6065h to the value "-1" (FFFFFFFFh).
Halt motion reactions Various halt motion reactions can be programmed upon exiting the Operation enabled state. The following graphic shows an overview of the halt motion 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 following table). Value in object 605Ah Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking 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 … 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 following table). Value in object 605Bh Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on operating mode) and subsequent state change to Switch on disabled 2 … 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 following table). Value in object 605Ch Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on operating mode) and subsequent state change to Switch on disabled 2 … 32767 Reserved
Halt The bit is valid in the following modes: Profile Position Velocity Profile Velocity Profile Torque Interpolated Position Mode When setting bit 8 in object 6040h (controlword), the reaction stored in 605Dh is executed (see following table): Value in object 605Dh Description -32768 … 0 Reserved 1 Braking with slow down ramp (braking deceleration depending on operating mode) 2 Braking with quick stop ramp (braking deceleration depending on operating mode) 3 … 32767 Reserved
Fault Case of an error (fault): If an error occurs, the motor will brake according to the value stored in object 605Eh. Value in object 605Eh Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on control mode) 2 Braking with quick stop ramp (braking deceleration depending on control mode) 3 … 32767 Reserved
Following error If a following error occurs, the motor will brake according to the value stored in object 3700h. Value Description -32768 … -1 Reserved 0 Immediate stop 1 Braking with slow down ramp (braking deceleration depending on control mode) 2 Braking with quick stop ramp (braking deceleration depending on control mode) 3 … 32767 Reserved Following error monitoring can be deactivated by setting object 6065h to the value "-1" (FFFFFFFFh).
