Digitax HD M753 Control User Guide
107
Issue Number: 3
The mode_of_operation object is read in all CiA402 states so that the
operating mode can be changed at any time, which is necessary for
homing: some axes (e.g. vertical axes) have to be homed and start
ordinary positioning operation without the need to remove power from
the motor, which, on a vertical axis, might allow a tool, to fall and be
damaged or cause damage. However, the state machine will not perform
a mode change until the motor is at zero speed, as far as can be
determined.
The max_motor_speed object specifies a maximum speed in RPM; it will
have a default value matching the drive parameter Pr
01.006
(“Maximum
reference clamp”, the object value will be set to the value of Pr
01.006
at
power up, or if Pr
01.006
is explicitly changed), and it will be used to set
this parameter. It will also be scaled and used to set the position
controller output speed clamp (Pr
39.011
). It will be applied in all of the
CiA402 operating modes. For example, if the max_motor_speed object
is set to 6000, the position controller output speed clamp will be set to a
value to give a limit of 6000 rpm.
The initial value of gear_ratio, feed_constant and
additional_position_loop_scaling objects (e.g. user configuration in start-
up list) will be checked during the EtherCAT operational state transition
‘READY TO SWITCH ON’ to ‘SWITCHED ON’. During earlier CiA402
state machine transitions, the value of these objects can be changed at
any time. However the change won’t take effect until a CiA402 state
transition from ‘READY TO SWITCH ON’ to ‘SWITCHED ON’ happens.
If any ratio fails to be applied, the EtherCAT module will not apply new
values to the AMC.
Figure 9-6 CoE state machine diagram
Table 9-39 CoE state machine transition and events
Start
N
ot Ready
T
o Sw
i
tch On
Profile SW & 0xFFB0
Drive not tripped
Sw
i
tch On D
i
sab
l
ed
Profile SW & 0xFFB0 | 0x0040
Inhibit drive
Ready
T
o Sw
i
tch On
Profile SW & 0xFF90 | 0x0021
Inhibit drive
Switch On
Sw
i
tched On
Profile SW & 0xFF90 | 0x0023
Set drive Rdy state
Operat
i
on Enab
l
ed
Profile SW & 0xFF90 | 0x0027
Set drive run state
Enable Operation
Start quick stop
(mode specific)
Qu
i
ck Stop Act
i
ve
Profile SW & 0xFF90 | 0x0007
Quick Stop
Drive stopped?
Fau
l
t React
i
on Act
i
ve
Profile SW & 0xFFB0 | 0x000F
Fau
l
t
Profile SW & 0xFFB0 | 0x000F
Inhibit drive
Drive Tripped?
Fault Reaction
Complete
Fault Reset
Yes
No
(Any Drive Trip)
Shutdown
Yes
Stay in Quick
Stop state?
No
Start disable
operation
(mode
specific)
Disable operation
Disabling
operation
Disable voltage
Shutdown
Shutdown
Disable voltage
Enable operation
Pr
=0
10.002
0
1
2
3
6
4
10
5
8
9
16
11
12
13
14
15
7
Transition
Event(s)
Action(s)
0
Automatic transition after
power-on or reset application
Drive device self-test and/or
self Initialization shall be
performed
1
Automatic transition
Communication shall be
activated
2
Shutdown command from
control device or local signal
None
3
Switch on command received
from control device or local
signal
Power section shall be
switched on if not already
switched on
4
Enable operation command
received from control device or
local signal
Drive function shall be enabled
and clear all internal set-points
5
Disable operation command
received from control device or
local signal
Drive function shall be disabled
6
Shutdown command received
from control device or local
signal
The high-power shall be
switched off immediately, and
the motor shall be free to rotate
if not braked; additional action
depends on the shutdown
option code
7
Quick stop or disable voltage
command from control device
or local signal
None
8
Shutdown command from
control device or local signal
The high-power shall be
switched off immediately if
possible, and the motor shall be
free to rotate if not braked
9
Disable voltage command from
control device or local signal
The high-power shall be
switched off immediately if
possible, and the motor shall be
free to rotate if not braked
10
Disable voltage or quick stop
command from control device
or local signal
The high-power shall be
switched off immediately if
possible, and the motor shall be
free to rotate if not braked
11
Quick stop command from
control device or local signal
The quick stop function shall be
started
12
Automatic transition when the
quick stop function is
completed and quick stop
option code 1, 2, 3 or 4 disable
voltage command received
from control device (dependant
on the quick stop option code)
The power section shall be
switched off
13
Fault signal
The configure fault reaction
function shall be executed
14
Automatic transition
The drive function shall be
disabled; the high-power may
be switched off
15
Fault reset command from
control device or local signal
A reset of the fault condition is
carried out, if no fault exists
currently on the drive device;
after leaving the Fault state, the
Fault reset bit in the
controlword shall be cleared by
the control device
16
Enable operation command
from control device, if the quick
stop option code is 5, 6, 7 or 8
The drive function shall be
enabled
Summary of Contents for Digitax HD M753 EtherCAT
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