Device control
State diagram
State diagram of the drive controller
8
97
KHB 13.0003-EN
2.0
With status transitions 2, 3, 4, - basically corresponding to CAN controller enable - you
change to the
Operation_Enable
status. In this status, the power stage is switched on and
the motor is controlled according to the selected operating mode. Therefore, it is
absolutely necessary to ensure before that the controller parameters are correct and the
corresponding setpoint is zero.
Status transition 9 corresponds to controller inhibit.
If an error occurs, (no matter from which status) the status finally changes to
Fault
.
Depending on the severity of the error, certain actions, e.g. emergency braking, can be
carried out before the status change
(Fault_Reaction_Active)
.
The execution of the indicated status transitions requires certain bit combinations to be
set in the
control word
. Bits 0 ... 3 of the
control word
are evaluated together to activate a
status transition. In the following, only the most important status transitions (2, 3, 4, 9 and
15) will be explained. A table of all states and status transitions can be found at the end of
this chapter.
In the first column of the following table, you can find the desired status transition and in
the second column the command required for the transition (usually a command by the
master). In the
control word
column, you can see, how the command is generated, i.e.
which bits are to be set in the
control word
.
Transition Command
Control word (bits)
Action
15
7
3
2
1
0
2
Shutdown and
controller enable
1
X
X
1
1
0
None
3
Switch on
1
X
X
1
1
1
Power stage is switched on
4
Enable operation
1
X
1
1
1
1
Control according to the selected
operating mode
9
Disable voltage
1
X
X
X
0
X
Power stage is disabled. Motor can be
freely rotated.
15
Fault reset and error
removed
1
0 ->
1
X
X
X
X
Error acknowledgement
Tab. 10
Important controller status transitions
X not relevant
