stepIM
33
Technical Training Manual
6040h – Controlword – State Transition Command Bits
Controlword Bit
7
3
2
1
0
Fault
Reset
Enable
Operate
Quick
Stop
Enable
Voltage
Switch
On
Command
Transition to State
Shut Down
0
X
1
1
0
2
, 6, 8
Ready to
Switch On
Switch On
0
0
1
1
1
3
Switched
On
Disable Voltage
0
X
X
0
X
7, 9, 10, 12
Quick Stop
0
X
0
1
X
7, 10, 11
Disable Operation
0
0
1
1
1
5
Enable Operation
0
1
1
1
1
4
, 16
Operation
Enabled
Reset Fault
>> 1
X
X
X
X
15
Switch On
Disabled
To enable the drive for operation, the state machine must complete the following
sequence of transitions:
15
> Disabled
2
> Ready to Switch On
3
> Switched On
4
> Operation Enabled
Exercise – Enable the Drive
1.
Make sure drive is online and disabled.
2.
From the ServoStudio toolbar, select
SDO TBL
.
The Drive Objects dialog box opens.
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