ABB FECA-01 EtherCAT, Руководство пользователя

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Communication profiles 83
State machine
The state machine for the ABB Drives communication profile is
shown below.
Power ON (CW Bit0=0)
(SW Bit6=1)
(SW Bit0=0)
from any state
(CW=xxxx x 1 xx xxxx x 110 )
(SW Bit1=1)
n(f)=0 / I=0
(SW Bit2=0)
A B C D
(CW Bit3=0)
operation
inhibited
OFF1 (CW Bit0=0)
(SW Bit1=0)
(SW Bit0=1)
(CW Bit3=1
and
SW Bit12=1)
C D
(CW Bit5=0)
(SW Bit2=1)
(SW Bit5=0)
from any state from any state
Emergency Stop
OFF3 (CW Bit2=0)
n(f)=0 / I=0
Emergency OFF
OFF2 (CW Bit1=0)
(SW Bit4=0)
B
B C D
(CW Bit4=0)
(CW=xxxx x 1 xx xxx 1 1111 )
(CW=xxxx x 1 xx xx 11 1111 )
D
(CW Bit6=0)
A
C
(CW=xxxx x 1 xx x 111 1111 )
(SW Bit8=1)
D
from any state
Fault
(SW Bit3=1)
(CW Bit7=1)
(CW=xxxx x 1 xx xxxx x 111 )
(CW=xxxx x 1 xx xxxx 1111
and SW Bit12=1)
state
condition
rising edge
the bit of
ABB Drives
communication
profile
CW = Control word
SW = Status word
n = Speed
I = Input current
RFG = Ramp Function
Generator
f = Frequency
RFG: OUTPUT
ENABLED
OFF2
ACTIVE
OFF3
ACTIVE
OPERATION
FAULT
READY TO
OPERATE
READY TO
SWITCH ON
NOT READY TO
SWITCH ON
SWITCH-ON
INHIBITED
OPERATION
INHIBITED
OFF1
ACTIVE
OPERATION
ENABLED
RFG: ACCELERATOR
ENABLED
MAINS OFF