Moog ACV with CANopen bus interface
5 Device control
Device state machine (DSM)
B99224-DV018-D-211, Rev. A, October 2018
49
5.2.2 State transitions
State transitions are caused by
• The control word #ControlWord#
• Enable signal (digital input 0)
• Internal events
5.2.2.1 DSM state transitions caused by the control word
The following table lists the transitions depending on the #ControlWord#.
Chapter "5.2 Device state machine (DSM)", page 46
The device control commands, which cause a state transition, are formed by the four low-order bits of the
#ControlWord#.
Chapter "5.1 Local mode", page 43
Every transition between the actual state and the requested state will be processed.
Transition (TR) Control Word
Control word bit
Comments/Conditions
7
6
5
4
3
2
1
0
R
M
H
D
TR2
Activate 'DISABLED'
x
x
x
x
x
x
x
1
TR3
Activate 'HOLD'
x
x
x
x
x
x
1
1
Depending on enable signal
Chapter "5.2.2.4 Enable behavior",
TR4
Activate 'ACTIVE'
x
x
x
x
x
1
1
1
Depending on enable signal
Chapter "5.2.2.4 Enable behavior",
TR5
Deactivate 'ACTIVE
x
x
x
x
x
0
x
X
TR6
Deactivate 'HOLD'
x
x
x
x
x
0
0
X
TR7
Deactivate 'DISABLED'
x
x
x
x
x
0
0
0
TR10
Reset 'FAULT_DISABLED'
x
x
x
x
0
0
0
1
This transition is executed if the reset
bit changes from 0 to 1 (rising edge) or
the enable signal toggles from 0 to 1.
Chapter "5.2.2.4 Enable behavior",
Behavior of error output pin:
Chapter "5.2.2.5 Error output pin",
change to
x
x
x
x
1
0
0
1
TR11
Reset 'FAULT_HOLD'
x
x
x
x
0
0
1
1
This transition is executed if the reset
bit changes from 0 to 1 (rising edge) or
the enable signal toggles from 0 to 1.
Chapter "5.2.2.4 Enable behavior",
Behavior of error output pin:
Chapter "5.2.2.5 Error output pin",
change to
x
x
x
x
1
0
1
1
TR14
Reset 'FAULT_INIT'
x
x
x
x
0
0
0
0
This transition is executed if the reset
bit changes from 0 to 1 (rising edge) or
the enable signal toggles from 0 to 1.
Chapter "5.2.2.4 Enable behavior",
Behavior of error output pin:
Chapter "5.2.2.5 Error output pin",
change to
x
x
x
x
1
0
0
0
TR15
'FAULT_HOLD' to
'FAULT_DISABLED'
x
x
x
x
x
0
0
1
TR16
'FAULT_DISABLED' to
'FAULT_INIT'
x
x
x
x
x
0
0
0
