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Device control
PROFIBUS-Manual Servo positioning controller DIS-2 48/10 FB
Version 2.0
13*
1: Drive stopped
0: Drive in motion
1: The actual speed is within a fixed tolerance
window around 0. No active positioning or active
quick stop.
0: The actual speed is out of the tolerance window
around 0 or the condition above is not fulfilled.
14-15
Device-specific
Free
*: Different meaning in another operating mode.
Table 9.5: Status word 1 for positioning mode
Just like the combination of several bits of
control word 1
can trigger several state transitions, the
combination of several bits of
status word 1
can indicate the state of the servo positioning controller.
The following table shows the possible states of the state diagram and the associated bit combination
used to indicate the states in
status word 1
.
Status
Bit 6
Bit 2
Bit 1
Bit 0
Mask
Value
0040
h
0004
h
0002
h
0001
h
SWITCH_ON_INHIBITED
1
0
0
0
0047
h
0040
h
READY_FOR_SWITCHING_ON
0
0
0
1
0047
h
0001
h
SWITCHED_ON
0
0
1
1
0047
h
0003
h
OPERATION
0
1
1
1
0047
h
0007
h
Table 9.6
: Device status (
= not relevant)
Bits 4 and 5 depend on the command and therefore are not included in Table 9.6.
9.4
State diagram and device control
This chapter describes how DIS-2 48/10 FB servo positioning controllers are controlled with the help of
the two data words “control word 1” (PNU 967) and “status word 1” (PNU 968), i.e. how the power
stage is activated, for example. This control mechanism follows the specification of the PROFIdrive
profile. The following terms are used for the explanation of the context:
State:
Depending on whether the power stage has been activated, for example, or
whether a fault has occurred, the servo positioning controller is in different
states. The states defined under PROFIdrive will be described in this
chapter.
Example:
SWITCHING_ON_INHIBITED
State transition
Just like the states, also the transitions between the states are defined under
PROFIdrive. Transition means getting from one state to another. The master
triggers state transitions by setting bits in
control word 1
. The servo
positioning controller can also trigger a state transition internally when it
detects a fault.
Command
To trigger state transitions, certain combinations of bits have to be set in
control word 1
. Such a combination is referred to as a command.
Example:
Enable Operation
