A-1
CiA 402 Drive Profile
This section describes the profile that is used to control the inverter.
A-1-1
Controlling the State Machine of the Inverter
The state of M1-series Inverters with Built-in EtherCAT Communications is called "PDS state".
The PDS state is controlled by Controlword (6040 hex).
Each PDS state is shown in Statusword (6041 hex).
State Machine
The state of an M1-series Inverter changes as shown below.
Each £ indicates a state, while numbers "2 to 10" and "15" indicate the state control commands.
Refer to State Descriptions on page A-4 for details on the states, and State Control Commands on
page A-4 for details on the state control.
Not ready to switch on
Start
ON
ON
ON
ON
ON
Enabled
*1
Disabled
D
isabled
ON
or
OFF
Switch on
disabled
Fault
Shutdown: 2
7: Disable Voltage
Ready to
switch on
Switch on: 3
Switched on
6: Shutdown
Disable Voltage: 10
Enable operation: 4
5: Disable
operation
15: Fault reset
Operation
enabled
8: Shut down
9: Disable Voltage
13: Error occurs
Fault reaction
active
Power turned OFF or Reset
0: After the main power supply is turned ON
1: After initialization is completed
14: Error
response
operation
completed
Control circuit
power supply
Main circuit
power supply
Operation
enabled/
disabled
12: Disable voltage
11: Quick stop
Quick stop active
Appendices
A-3
M1 Series EtherCAT Type User’s Manual (I670)
A-1 CiA 402 Drive Profile
A
A-1-1 Controlling the State Machine of the Inverter
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