Festo Электромотор MTR-DCI - Manual (Page 272)

B. Reference – Festo Handling and Positioning Profile (FHPP)
B-54
Festo P.BE-MTR-DCI-CO-EN en 1209a
B.3 Status machine FHPP
Notes on the “Operation enabled” state
The transition T3 changes to status S4, which itself contains
its own sub-status machine, the states of which are marked
with “SAx” and the transitions of which are marked with
“TAx” Fig. B/8. This enables an equivalent circuit diagram
(Fig. B/7) 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/7: State machine equivalent circuit diagram
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 recognized”) has the highest priority (and receives
the asterisk “*”).
T7 is then derived from S5+S6 when a fault with higher prior-
ity occurs. This means that a serious fault can suppress a
simple fault.