7. Device control
Festo P.BE-CMMP-CO-SW-EN 0708NH
137
Notes:
1.)
The example assumes that no other bits are set in the
controlword
(for the transitio
ns, only bits 0…3 are important)
.
2.)
Transitions 3 and 4 can be combined by setting the
controlword
immediately to 000F
h
. For condition transition 2, the set bit 3 is
not relevant.
*
1)
The host must wait until the condition in the
statusword
can be read
back. This is explained in detail below.
Condition diagram: states
The following table lists all conditions and their meaning:
Name
Meaning
NOT_READY_TO_SWITCH_ON
The motor controller performs a self-test. The CAN communication does
not work yet.
SWITCH_ON_DISABLED
The motor controller has completed its self-test. CAN communication is
possible.
READY_TO_SWITCH_ON
The motor controller waits until the digital inputs "final stage" and
"controller enable" are at 24 V. (Controller enable logic "Digital input and
CAN").
SWITCHED_ON
*1)
The final stage is switched on.
OPERATION_ENABLE
*1)
Voltage to the motor is on, and the motor is regulated according to the
operating mode.
QUICKSTOP_ACTIVE
*1)
The quick stop function is carried out (see: quick_stop_option_ code).
Voltage to the motor is on, and the motor is regulated according to the
quick stop function.
FAULT_REACTION_ACTIVE
*1)
An error has occurred. In case of critical errors, the system immediately
switches into the Fault status. Otherwise, the action specified in the
fault_reaction_option_code is carried out. Voltage to the motor is on, and
the motor is regulated according to the fault reaction function.
FAULT
An error has occurred. No voltage is applied to the motor.
*
1)
The final stage is switched on.
Summary of Contents for CMMP Series
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