Oriental motor aSTEP AZ mini Driver, User Manual

Page: 46 / 172

Drive profile
46
3 E
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State transition of drive state machine
The drive state machine is controlled by the Controlword object (6040h).
z
Controlword object (6040h)
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Manufacturer specific (ms) Reserved oms Halt
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Fault reset Operation mode specific (oms)
Enable
operation
Quick stop
Enable
voltage
Switch on
z
State transition commands by Controlword
State control command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Transition number
in the figure
Shutdown − − 1 1 0 2, 6, 8
Switch on − 0 1 1 1 3 *
Switch on + enable operation − 1 1 1 1 3+4 *
Disable voltage − − − 0 − 7, 9, 10, 12
Quick stop − − 0 1 − 7, 10, 11
Disable operation − 0 1 1 1 5
Enable operation − 1 1 1 1 4, 16
Fault reset 0 to 1 − − − − 15
* When the following conditions are not satisfied, the state will not transition from “Ready to switch on” to “Switched
on” even if the command is received.
- The state of the ESM is Operational.
- The main power is supplied.
- The FREE input is being OFF.
- Test operation (remote operation) is not being executed using the
MEXE02 .
z
State transition other than above
Transition number
in the figure
Transition event
0 Transitions automatically when the control power supply is turned on.
1 Transitions automatically when the initialization of the driver is completed.
12
If the Quick stop option code (605Ah) is 1 to 3, transitions to “Switch on disabled” after the
motor stops when the Quick stop command is send.
13, 14 Transitions if an alarm is generated
If the drive state machine is in a state of any of "Switched on," "Operation enabled," or "Quick stop active," the state
transitions when an event in the table next is generated.
State Motor operation Event Action
Switched on During stop
•
The ESM transitions to other than
Operational.
• The main power was cut off.
•
The FREE input is ON.
Transitions to "Ready to switch on."
(Transition number 6)
Operation
enabled
During stop
•
The ESM transitions to other than
Operational.
• The main power was cut off.
•
The FREE input is ON.
Transitions to "Ready to switch on."
(Transition number 8)
The motor puts into a non-excitation state.