Hitachi SJ2-CO Uživatelský manuál stáhnout pdf (Strana 20)

CHAPTER5 CANOPEN COMMUNICATION FUNCTION

16

5.1.8 State Machine

Bit 7 Bit 3 Bit 2 Bit 1 Bit 0

Command bit of

Control word

Fault Reset

Enable

Operation

Quick Stop

Disable

Voltage

Switch On

Transition

Shutdown 0 X 1 1 0 2,6,8

Switch On 0 X 1 1 1 3

Disable Voltage 0 X X 0 X 7,9,10,12

Quick Stop 0 X 0 1 X 7,10,11

Disable Operation 0 0 1 1 1 5

Enable Operation 0 1 1 1 1 4,16

Fault Reset 0 -> 1 X X X X 15

‘X’ means that any value is allowed.

Power

PowerPower

Power

Enabled

EnabledEnabled

Enabled

Power

PowerPower

Power

Disabled

DisabledDisabled

Disabled

Start up

Not Ready to

Switch On

Switch On

Disabled

Ready to

Switch On

Fault

Reaction Active

Fault

Switched On

Operation

Enable

Quick Stop

Active

0

1

2

7

3

6

9

8

4

5

11

16

10

12

15

14

13

1 2 ... 15 16 17 18 19 20 21 22 23 24 25 ... 34 35

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