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0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 6 Operation
Fieldbus interface 63
6.3 Changing operating states with PDO4
The product operates in different operating states. The individual oper-
ating states are numbered from 1 to 9 . The operating states and the
transition conditions are described in more detail in the product manual,
chapters "Basics" and "Operation".
Table 6.1 Important operating states
Requests for switching operating states are transmitted to the product in
R_PDO4 in the field drivectrl. The product signals the current oper-
ating state back to the master in T_PDO4, field driveStat.
Table 6.2 shows the bit assignment of the field drivectrl in the object
R_PDO4:
Table 6.2 R_PDO4, drivectrl, bit assignment
Operating
state
Name Power
stage
Description
4 Ready To Switch On off Passive operating state,
motor without current
6 Operation Enable on Active operating state, current
available to motor
7 Quick Stop active on Fault state, power stage
remains enabled
9 Fault off Fault state, power stage is
disabled
Bit no. Value Meaning
001
h
Disable
102
h
Enable
204
h
Quick Stop
308
h
Fault Reset
410
h
Quick Stop release