If on the release of ControllerEnable is waited for, then AxisState is 2 and InternalDeviceState 0xA1. When switching on ControllerEnable (1), the brake relay is closed (brake released), and the motor torque is turned on if no error message is present and the DC bus is loaded. After the BrakeDisconnectionTime has lapsed (Standard value: 100 ms) (2), the AxisState switches to 3 and the travel orders can be sent to the drive.
Time diagram for switching on the enabling
