External Signal Exchange
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Operating Manual dryve D1, ST-, DC-, EC/BLDC-Motor Control System - V2.4
6.4.4 Network management
An initialisation process must be completed before the dryve D1 can be controlled by the master.
This initialisation process is performed by the D1 automatically.
Available are SDO and the synchronous and asynchronous PDO data transmission.
The asynchronous data transmission is available with and without event timer. If no event timer is used the PDO must include
the “Statusword”. The data is only transmitted if the “Statusword” is changed.
Transition
Description
1
Automatic start of the initialisation process after the system has been started.
2
Automatic transition to pre-operational state after NMT initialisation Boot-up message is sent.
3
Transition to the operational state set by bus control or local control. PDO communication active.
4, 7
Transition to pre-operational state. PDO communication stopped, SDO communication still active.
5, 8
Externally determined transition to stop. SDO and PDO communication stopped.
6
Transition to the operational state set by bus control. PDO communication active.
9, 10 ,11
Total reset of the control system. All objects are reset to standard values.
12, 13, 14
Reset of communication. Objects 1000h to 1FFFh are reset to standard values.
Overview of Defined States
The states are controlled by reading and processing different bits of the Statusword 6041h and Controlword 6040h. The dryve
D1 is controlled by the Controlword. The Statusword is used to display feedback.
The states must be set by the user (master control system).
To go through the State Machine the Bits 0, 1, 2 and 3 must be set permanently after being set the first time.
