Pilz Motion Control PMC, Руководство пользователя

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Transitions of the status machine
Transition Description
0
Event Reset / 24V supply is switched on
Action Initialization started
1
Event Initialization successfully completed, PMCtendo DD4 switch-on inhibit
Action none
2
Event
Bit 1 (inhibit voltage) and Bit 2 (fast stop) are set in the control word
(command: shutdown). DC-link voltage is present.
Action none
3
Event Bit 0 (switch-on) is also set (command: switch-on)
Action Output stage is switched on (enabled). Drive has torque.
4
Event Bit 3 (operation enabled) is also set (command: operation enable)
Action Motion functions are enabled, depending on the operating mode that is set.
5
Event Bit 3 is canceled (command: inhibit)
Action
Motion functions are disabled.
Drive is braked, using the relevant ramp (depends on operating mode).
6
Event Bit 0 is canceled (ready for switch-on).
Action Output stage is switched off (disabled). Drive has no torque.
7
Event Bit 1 or Bit 2 is canceled.
Action (Command: “Fast stop” or “Inhibit voltage”)
8
Event Bit 0 is canceled (operation enabled -> ready for switch-on)
Action Output stage is switched off (disabled) - motor loses torque.
9
Event Bit 1 is canceled (operation enabled -> switch-on inhibited)
Action Output stage is switched off (disabled) - motor loses torque.
10
Event Bit 1 or 2 are canceled (ready for operation -> switch-on inhibited)
Action Output stage is switched off (disabled) - motor loses torque.
11
Event Bit 4 is canceled (operation enabled -> fast stop)
Action
Drive is stopped, using the emergency ramp. The output stage remains enabled. Setpoints are
canceled (e.g motion block number, digital setpoint).
12
Event Bit 1 is canceled (fast stop -> switch-on inhibited)
Action Output stage is switched off (disabled) - motor loses torque.
13
Event Error response active
Action Output stage is switched off (disabled) - motor loses torque.
14
Event Error
Action none
15
Event Bit 7 is set (error -> switch-on inhibited)
Action Acknowledge error (depending on error – with/without reset)
16
Event Bit 4 is set (fast stop -> operation enabled)
Action Motion function is enabled again.
17
Event Bit 2 is canceled
Action Switch-on inhibited, output stage disabled
The state transitions are affected by internal events (e.g. switching off the DC-link voltage) and by
the flags in the control word (Bits 0, 1, 2, 3, 7).
User manual PROFIBUS DP PMCtendo DD4 Page 37
6 Process data channel