The possible operating states and state changes of the MovingCap drives are defined in accordance with the CiA 402 State Machine (PDS FSA, Power Drive System - Finite State Automat):
The operating states are controlled via the following objects/parameters:
Index |
Subindex |
Type |
Access |
Access Name |
Name Description |
6040h |
0h |
unsigned16 |
R/W |
Controlword |
Control of the CiA 402 state machine (PDS FSA). Switches the drive to the desired operating state. See description below. |
6041h |
0h |
unsigned16 |
RO |
Statusword |
Current operating status. See detailed description of CiA 402 Statusword 6041h |
Controlword 6040h - Change operating status
Bit no. (0-15) |
Meaning |
Meaning Description |
0 |
so |
switch on |
1 |
ev |
enable voltage |
2 |
qs |
quick stop |
3 |
eo |
enable operation |
4-6 |
oms |
operation mode specific |
7 |
fr |
fault reset |
8 |
h |
stop |
9 |
oms |
operation mode specific |
10 |
r |
reserved |
11-15 |
ms |
manufacturer specific |
Desired command / change of state |
Controlword 6040h in binary representation |
Possible transitions (transitions, arrows in diagram above) |
Shutdown |
xxxx xx00 0000 x110 |
2,6,8 |
Switch on |
xxxx xx00 0000 0111 |
3 |
Switch on + Enable Operation |
xxxx xx00 0000 1111 |
3 + 4 |
Disable voltage |
xxxx xx00 0000 xx0x |
7,9,10,12 |
Quick stop |
xxxx xxxx 0000 x01x |
7,10,11 |
Disable Operation |
xxxx xx00 0000 0111 |
5 |
Enable Operation |
xxxx xx00 0000 1111 |
4,16 |
Fault Reset |
xxxx xx00 1000 xxxx |
15 |
