Screen Page "PROFIBUS instrument control"
On this screen page the bit states are displayed for the control word (STW) and the status word (ZSW). The instrument state that is given by the status word is made visible in the state machine. The present state is shown in black, all other states are shown in gray. In addition, the previous state is indicated by accentuation of the number for the corresponding arrow symbol.
The following table describes the instrument states and the transitions.
States of the state machine
|
Not ready for switch-on |
Amplifier is not ready for switch-on. No operation readiness (BTB) is signaled from the amplifier software. |
|
Switch-on inhibited |
Amplifier is ready for switch-on. Parameters can be transferred, DC-link (DC-bus) can be switched on, motion functions cannot be carried out yet. |
|
Ready for switch-on |
DC-link voltage must be applied. Parameters can be transferred, motion functions cannot be carried out yet. |
|
Ready for operation |
DC-link voltage must be switched on. Parameters can be transferred, motion functions cannot be carried out yet. Output stage is switched on (enabled). |
|
Operation enabled |
No error present. Output stage is switched on, motion functions are enabled. |
|
Fast stop activated |
Drive has been stopped, using the emergency stop ramp. Output stage is switched on (enabled), motion functions are enabled. |
|
Error response active/error |
If an instrument error occurs, the Amplifier changes to the instrument
state "Error response active". In this state, the power stage is switched
off immediately. After this error response has taken place, it changes
to the state "Error". This state can only be terminated by the bit-command
"Error-reset". |
Transitions of the state machine
|
Transition 0 |
Event |
Reset / 24V supply is switched on |
|
Action |
Initialization started |
|
|
Transition 1 |
Event |
Initialization successfully completed, amplifier switch-on inhibit |
|
Action |
none |
|
|
Transition 2 |
Event |
Bit 1 (inhibit voltage) and Bit 2 (fast stop) are set in the control word |
|
Action |
none |
|
|
Transition 3 |
Event |
Bit 0 (switch-on) is also set (command: switch-on) |
|
Action |
Output stage is switched on (enabled). Drive has torque. |
|
|
Transition 4 |
Event |
Bit 3 (operation enabled) is also set (command: operation enable) |
|
Action |
Motion functions are enabled, depending on the operating mode that is set. |
|
|
Transition 5 |
Event |
Bit 3 is canceled (command: inhibit) |
|
Action |
Motion functions are disabled. |
|
|
Transition 6 |
Event |
Bit 0 is canceled (ready for switch-on). |
|
Action |
Output stage is switched off (disabled). Drive has no torque. |
|
|
Transition 7 |
Event |
Bit 1 or Bit 2 is canceled. |
|
Action |
(Command: "Fast stop" or "Inhibit voltage") |
|
|
Transition 8 |
Event |
Bit 0 is canceled (operation enabled -> ready for switch-on) |
|
Action |
Output stage is switched off (disabled) - motor loses torque. |
|
|
Transition 9 |
Event |
Bit 1 is canceled (operation enabled -> switch-on inhibited) |
|
Action |
Output stage is switched off (disabled) - motor loses torque. |
|
|
Transition 10 |
Event |
Bit 1 or 2 are canceled (ready for operation -> switch-on inhibited) |
|
Action |
Output stage is switched off (disabled) - motor loses torque. |
|
|
Transition 11 |
Event |
Bit 2 is canceled (operation enabled -> fast stop) |
|
Action |
Drive is stopped, using the emergency ramp. The output stage remains enabled. Setpoints are canceled (e.g motion block number, digital setpoint). |
|
|
Transition 12 |
Event |
Bit 1 is canceled (fast stop -> switch-on inhibited) |
|
Action |
Output stage is switched off (disabled) - motor loses torque. |
|
|
Transition 13 |
Event |
Error response active |
|
Action |
Output stage is switched off (disabled) - motor loses torque. |
|
|
Transition 14 |
Event |
Error |
|
Action |
none |
|
|
Transition 15 |
Event |
Bit 7 is set (error -> switch-on inhibited) |
|
Action |
Acknowledge error (depending on error – with/without reset) |
|
|
Transition 16 |
Event |
Bit 2 is set (fast stop -> operation enabled) |
|
Action |
Motion function is enabled again. |
The state transitions are affected by internal events (e.g. switching off the DC-link voltage) and by the flags in the control word (Bits 0, 1, 2, 3, 7).