Device control – Lenze 931K User Manual
Page 92
Device control
State diagram
State diagram of the drive controller
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KHB 13.0002−EN 4.1
If an error occurs, finally the fault state will be reached (no matter from which state you
have started). Depending on the severity of the error, certain actions (e.g. an emergency
braking) can be executed before the fault state is reached (Fault_Reaction_Active).
To execute the state transitions mentioned above, certain bit combinations must be set in
the control word. The bits 0 ... 3 of the control word are evaluated together to initiate a
state transition. In the following sections, first only the most important state transitions
2, 3, 4, 9 and 15 are explained. A table listing all states and state transitions can be found
at the end of this chapter.
The following table contains in the first column the desired state transition and in the
second column the required conditions (usually a command given by the master). The
column control word shows how this command is generated, i.e. which bits are to be set
in the control word. The fault reset command is generated by a positive edge change of
bit 7.
Transition Command
Control word (bits)
Action
7
3
2
1
0
2
Shut down and
controller enable
x
x
1
1
0
None
3
Switch on
x
x
1
1
1
Switching on of the power stage
4
Enable operation
x
1
1
1
1
Control according to the set operating mode
9
Disable voltage
x
x
x
0
x
Power stage is inhibited. Motor can be rotated
freely.
15
Fault reset and error
eliminated
0−>1 x
x
x
x
Error acknowledgement
Tab. 11
Important state transition of the drive controller
x
not relevant
Example: Switching on of the power stage (drive controller must be parameterised)
The drive controller is in the Switch_On_Disabled state and is to be set into the
Operation_Enable state. No other bits are to be set in the control word.
Transition Old state
Control word (bits)
New state
3
2
1
0
2
Switch_On_Disabled x
1
1
0
Ready_To_Switch_On
1)
3
Ready_To_Switch_
On
x
1
1
1
Switched_On
1)
4
Switched_On
1
1
1
1
Operation_Enable
1)
1)
The master has to wait until the new state can be read back from the status word.
The transitions 3 and 4 can be summarised by directly setting the control word to 1111. For
the state transition 2, the set bit 3 is not relevant.