ABB FPBA-01 PROFIBUS DP, User Manual

Page: 108 / 196

108 Communication profiles
State machine for positioning mode
The PROFIdrive state machine for the positioning mode is shown
below.
State
condition
E
F
(SW Bit10,13=1)
(CW Bit4,5=1
and
CW Bit6
edge 0

1)
CW= Control word
SW = Status word
PROFIdrive
State machine
for PROFIdrive
positioning mode
(CW Bit11=1)
(SW
Bit10,11,13=0)
BASIC STATE:
Operating
1)
HOMING
RUNNING
(SW
Bit10,11,13=1)
HOMING
READY
(CW Bit11=0)
(SW Bit10,13=0)
Traversing
task active
(CW Bit5=0)
(CW Bit5=0)
(SW Bit10,13=0)
Braking
with ramp
Intermediate
stop
(CW Bit6
edge 0

1)
F
F F
(SW Bit10,13=0)
(CW Bit4=0)
Braking
with ramp
E
1)
In the “Operating”
state of the general
state machine:
SW bits 0, 1 and 2 = 1
SW bit 6 = 0.
F