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State machine

State machine according to CiA402

The system state of the drive is basically managed by the central state machine according to CiA402. However, the transitions and states which the state machine passes through are dependent on the drive profile setting and the bus system used. During operation, a distinction is made between drive standstill, operation, and the error states.

States display

Display	System state
	Initialization on device startup
	Not ready (DC link voltage possibly too low)
	Start inhibit (DC link voltage present, power stage off)
	Starting lockout
	Ready for start
	Control initialization: Autocommutation, flux build-up, etc.
	Control enabled
	Quick-stop active
	Error reaction active
	Error state (in this state the error is indicated directly on the display.)
	Device is reset (display flashes)
Number [5.] flashes when STO (Safe Torque Off) input is active. Display goes out when STO inactive. The dot on the display flashes when the power stage is active.

Tabelle: Central state machine according to CiA 402

NOTE: The system states indicated on the display may differ from the states in the table depending on the drive profile setting.

State machine schematic

	State number
	State transition

Bild: State machine according to CANopen communication