State Transitions
State transitions are caused by internal events in the drive or by commands from the host with the ‘Controlword’.
| Transition | Event | Action | |
|---|---|---|---|
|
Internal |
Command from the host |
||
|
0 |
Reset. |
The drive self-initializes. |
|
|
1 |
|
The drive has initialized successfully. |
Activate communication. |
|
2 |
‘Shutdown’ |
|
None. |
|
3 |
‘Switch On’ |
|
The power circuitry is switched on. |
|
4 |
‘Enable Operation’ |
|
The drive function is enabled (power is applied to the motor). |
|
5 |
‘Disable Operation’ |
|
The drive operation will be disabled (no energy will be supplied to the motor). See object 605Ch. |
|
6 |
‘Shutdown’ |
|
The drive function is disabled (power is not applied to the motor). |
|
7 |
‘Quick Stop’ or ‘Disable Voltage’ |
|
None. |
|
8 |
‘Shutdown’ |
|
The power circuitry is switched off immediately. Power is not applied to the motor. The motor is free to rotate if unbraked. See object 605Bh. |
|
9 |
‘Disable Voltage’ |
|
The power circuitry is switched off immediately. Power is not applied to the motor. The motor is free to rotate if unbraked. |
|
10 |
‘Disable Voltage’ or ‘Quick Stop’ |
|
The power circuitry is switched off immediately. Power is not applied to the motor. The motor is free to rotate if unbraked. |
|
11 |
‘Quick Stop’ |
|
The quick stop function is executed. |
|
12 |
‘Disable Voltage’ |
‘Quick Stop’ action is completed. |
The power circuitry is switched off immediately. Power is not applied to the motor. The motor is free to rotate if unbraked. |
|
13 |
|
A fault has occurred in the drive. |
The drive executes appropriate fault reaction (see 605E.0 h object). |
|
14 |
|
The fault reaction is completed. |
The drive function is disabled (power is not applied to the motor). |
|
15 |
‘Fault Reset’ |
|
The fault condition is reset if no fault currently exists in the drive. After leaving Fault state, the Fault Reset bit of the Controlword must be cleared by the host. |
|
16 |
‘Enable Operation' |
|
The drive function is enabled (power is applied to the motor). |
The following table contains bit combinations for the Controlword and their corresponding state transitions. An ‘X’ corresponds to a bit state that requires no further consideration. The only exception is fault reset: the transition is only requested by the rising edge of the bit.
| Command | Transition | Controlword | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 15 | 14 | 13 | 12 | 11 | 10 | 9 | 8 | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | |||||
| Shutdown | [2][6][8] |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
1 |
1 |
0 |
|||
| Switch On | [3] |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
1 |
1 |
1 |
|||
| Disable Voltage | [7][9][10][12] |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
0 |
X |
|||
| Quick Stop | [7][10][11] |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
0 |
1 |
X |
|||
|
Disable Operation |
[5] |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
0 |
1 |
1 |
1 |
|||
|
Enable Operation |
[4][16] |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
1 |
1 |
1 |
1 |
|||
|
Fault Reset |
[15] |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
X |
||||
