7. Device control
136
Festo P.BE-CMMP-CO-SW-EN 0708NH
The condition transition 9 corresponds to removal of the release, that is, a motor that is
still running would fizzle out unregulated.
If an error occurs (regardless from which condition), the system ultimately branches into
the
FAULT
condition. Depending on the severity of the error, certain actions, such as
emergency braking, can still be performed (
FAULT_REACTION_ACTIVE
).
In order to perform the named condition transitions, certain bit combinations must be set
in the
controlword
(see below). The lower 4 bits of the
controlword
are jointly evaluated
in order to trigger a condition transition. In the following, first only the most important
condition transitions 2, 3, 4, 9 and 15 are explained. A table of all possible conditions and
condition transitions is found at the end of this chapter.
The following table contains the desired condition transition in the 1st column and in the
2nd column the prerequisites necessary for it (usually a command through the host, here
depicted with frame). How this command is generated, that is, which bits must be set in
the
controlword
, is evident in the 3rd column (
x
= not relevant).
No. Is performed when
Bit combination (controlword)
Action
Bit
3 2 1 0
2
Final stage and regulator activated
prev. + command
Shutdown
Shutdown
=
x 1 1 0
None
3
Command
Switch On
Switch On
=
x 1 1 1
Switching on the final
stage
4
Command
Enable Operation
Enable Operation
=
1 1 1 1
Control in accordance with
set operating mode
9
Command
Disable Voltage
Disable Voltage
=
x x 0 x
Final stage is blocked.
Motor rotates freely.
15 Error re
command
Fault Reset
Fault Reset
=
Bit 7 =
Acknowledge fault
Tab. 7.1: Most important condition transitions of the motor controller
EXAMPLE
After the motor controller has been parameterised, the motor controller
should be "activated", that is, the final stage switched on:
1.)
The motor controller is in the condition
SWITCH_ON_DISABLED
2.)
The motor controller should be in the condition
OPERATION_ENABLE
3.)
The transitions 2, 3 and 4 are to be carried out according to the
condition diagram (Fig. 7.1).
4.)
From Tab. 7.1 follows:
Transition 2: controlword = 0006h New condition: READY_TO_SWITCH_ON
*1)
Transition 3: controlword = 0007h New condition: SWITCHED_ON
*1)
Transition 4: controlword = 000Fh New condition: OPERATION_ENABLE
*1)
Содержание CMMP Series
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