Lenze 931W - Manual (Page 35)

Control word / status word
The Profidrive state machine
State machine and general state diagram
6

35 K-HB 13.0001-EN 2.1
Status Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0
Switch-on
inhibit
Quick stop Fault Enable
operation
Ready for
operation
Ready to
switch on
S1 switch-on inhibit 1 X 0 0 0 0
S2 ready to switch on 0 1 0 0 0 1
S3 ready for operation 0 1 0 0 1 1
S4 operation enabled 0 1 0 1 1 1
S5 switch-off 0 X X 1 1 1
Not ready to switch on 0 X 0 0 0 0
Fault 0 X 1 0 0 0
Fault response is active 0 X 1 1 1 1
Quick stop is active 0 0 0 1 1 1
Tab. 13 Confrontation of the states of the device and the status word (ZSW) in bit format
In all states - despite the ”Not ready to switch on” status, which is only pending a short
while after switching on the voltage supply (self-initialisation) - the parameters of the
servo inverters may be reparameterised by the parameter channel if the parameter change
rights (see PNU 927) was requested before. The changes of the control word required for
the status changes are shown in Fig. 1.

Note!
For safety reasons the servo inverter can only be operated from an interface.
This means that the parameter change rights may either be occupied by the
Fluxx operating program or the control (PROFIBUS).
If an operating program with level 2 or higher has been selected at the
inverter, no parameter change rights can be requested via the PROFIBUS. In
this case it is required to change the operating mode of the Fluxx program on
level 1 (monitoring) or offline.
As aforementioned, the real control process takes place in the status S4 ”operation
enabled”. To, e.g. accept asetpoint or start homing, further changes of the control word are
required. Since these changes depend on the set control, the state diagrams for a
speed-controlled and a position-controlled system will be described separately.