Lenze 931W - Manual (Page 33)

Control word / status word
The Profidrive state machine
State machine and general state diagram
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33 K-HB 13.0001-EN 2.1
6.4 The Profidrive state machine
6.4.1 State machine and general state diagram
The status of the drive can be changed via the state machine. The single state transitions
are carried out depending on the control word or error management. Basically, the
following states exist according to the Profidrive profile:
ƒ S1: Switch-on inhibit
ƒ S2: Ready to switch on
ƒ S3: Ready for operation
ƒ S4: Operation enabled
ƒ S5: Switching-off/braking
In addition to these states the following substates can be defined which permit a further
concretion of the states mentioned above.
ƒ Not ready to switch on (initialisation phase of the inverter)
ƒ Fault (drive stands due to an error, acknowledgement is required)
ƒ
Fault reaction is active (braking process is active due to an error)
ƒ Quick stop is active
The control and positioning processes take place in the S4 status (”Operation enabled”). To
reach this status, the other single states must be passed before by changing the
corresponding bits of the control word.
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Note!
To change states, the control authority is required (see bit 10 of the control
word)!
Fig. 1 shows the state machine in the form of a state diagram. To provide a better overview,
only the main states from S1 to S5 are represented. For the sake of simplicity, the state
transitions marked by arrows are provided with the required changes of the bits of the
control word.