Festo Электромотор MTR-DCI - Manual (Page 291)

B. Supplementary information
B-85
Festo P.BE-MTR-DCI-PB-EN en 1209a
B.3 FHPP finite state machine
Notes on the “operation enabled” state
The transition T3 leads to state S4, which itself contains its
own sub-state machine, the states of which are marked with
“SAx” and the transitions of which are marked with “TAx”;
see Fig. B/4. This enables a equivalent circuit diagram
(Fig. B/3) to be used, in which the internal states SAx are
omitted.
Switched off
S1 Controller
Switched on
S3 Drive
Enabled
S2 Drive
Blocked
S5 Reaction
to malfunction
S6
Malfunction
From all
statuses
Operation
Enabled
T6
T2
T5
T3 T4
T1
T7*
T8
T10
T9
S5
T11
S4
Fig. B/3: Equivalent circuit diagram for finite state machine
Transitions T4, T6 and T7* are executed from every sub-state
SAx and automatically have a higher priority than any transi-
tion TAx.
Reaction to faults
T7 (“fault detected”) has the highest priority (and therefore
receives the asterisk “*”).
T7 is then executed from S5 + S6 when an fault with higher
priority occurs. This means that a serious fault can suppress
a simple fault.