1 general information, 1 internal state machine, 12 basic drive functions – Lenze E94AxPExxxx User Manual
Page 413
Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
413
12
Basic drive functions
12.1
General information
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12.1
General information
12.1.1
Internal state machine
The execution of the different basic functions is internally controlled by a state machine which can
adopt the following "function states":
[12-1] Function states of the state machine "Basic functions"
The state machine ensures that:
• one basic function at a time adopts the control of the drive.
• only the basic function with the highest priority (= smallest number) is executed if several basic
functions are activated at the same time.
• the drive always has a defined state both in case of error and in normal operation.
Manual jog active
On operator input request,
the drive travels at
constant speed.
Homing active
Drive travels to home
target position.
Error
Drive does nothing
due to an error.
Drive is stopped
Drive stops as defined.
Quick stop active
Drive stops as defined
and holds the position.
Speed follower active
Drive continuously follows
a speed setpoint.
Positioning active
Drive executes
a positioning command.
Controller not ready
Drive has no torque
(no error).
Drive in standstill
Drive holds position.
Initialisation
Drive does nothing,
basic functions are being
initialised.
Optional limitation
by basic
function.
Limiter
Optional additional braking
by basic
function.
Brake control
Position follower active
Drive continuously follows
a position setpoint.
Torque follower active
Drive continuously follows
a torque setpoint.
1
3
2
9
10
11
4
5
7
8
6
x
= Priority