Drive State Machine (CiA 402)

This diagram depicts the transitions of the system’s states according to IEC 61800-7-201


The function that are available in each state are given in the table below:

Function FSA States
Not ready to switch on Switch on disabled Ready to switch on Switched on Operation enabled Quick Stop active Fault reaction active Fault
Brake applied, if present Yes Yes Yes Yes No No No Yes
Drive function enabled No No No No Yes Yes Yes No
Configuration allowed Yes Yes Yes Yes No No No Yes