3 states of the drive controller, States of the drive controller, Device control – Lenze 931M-931W User Manual
Page 98: State diagram states of the drive controller
Device control
State diagram
States of the drive controller
8
98
KHB 13.0003-EN 2.0
Example: Switching on the power stage (controller must be parameterised)
1. The controller is in the Switch_On_Disabled status.
2. The controller is to change to Operation_Enable.
3. Transitions 2, 3 and 4 must be executed.
4. For requesting the parameterisation authority via the CAN bus, bit 15
remote_request must be set to 1. If this is not the case, another interface (e.g. serial
interface) has got the parameterisation authority and the status machine cannot be
”enabled” or influenced via the CAN bus.
5. Ensure that no other bits are set in the control word, because only bits 0 ... 3 are
important for the transitions.
Transition Old status
Control word
New status
15 3
2
1
0
Value
2
Switch_On_Disabled 1
X
1
1
0
8006
h
Ready_To_Switch_On
1)
3
Ready_To_Switch_
On
1
X
1
1
1
8007
h
Switched_On
1)
4
Switched_On
1
1
1
1
1
800F
h
Operation_Enable
1)
1)
The master must wait until the status can be read in the status word.
Transitions 3 and 4 can be combined by setting the control word directly to 000F
h
. The set
bit 3 is not relevant for status transition 2.
8.1.3
States of the drive controller
Status
Meaning
Not_Ready_To_Switch_On
The controller makes a self-test. CAN communication is not active yet.
Switch_On_Disabled
The self-test has been completed. CAN communication is possible.
Ready_To_Switch_On
The controller is waiting for the switch-on command, depending on the
controller enable logic.
Switched_On
1
)
The power stage is switched on.
Operation_Enable
1
)
Voltage is applied and the motor is controlled according to the operating
mode.
Quick_Stop_Active
1
)
The quick stop function is carried out (see: quick_stop_option_code). Voltage
is applied and the motor is controlled according to the quick stop function.
Fault_Reaction_Active
1)
An error has occurred. With critical errors, the status changes to Fault
immediately. Otherwise, the action selected in the
fault_reaction_option_code is activated. Voltage is applied and the motor is
controlled according to the Fault Reaction function.
Fault
An error has occurred. The motor is deenergised.
Tab. 11
Controller states
1)
The power stage is switched on