4 state transitions of the drive controller, State transitions of the drive controller, Device control – Lenze 931K User Manual
Page 94
Device control
State diagram
State transitions of the drive controller
l
94
KHB 13.0002−EN 4.1
8.1.4
State transitions of the drive controller
Transition Command
Control word (bits)
Action
7
3
2
1
0
0
Switched on or reset
executed
Internal transition
Execution of self−test.
1
Self−test successful
Internal transition
Activation of CAN communication.
2
Shut down and
controller enable
x
x
1
1
0
None
3
Switch on
x
x
1
1
1
None
4
Enable operation
x
1
1
1
1
On transition to the Operation_Enable state,
the power stage is switched on.
5
Disable operation
x
0
1
1
1
Power stage is inhibited. Motor can be rotated
freely.
6
Shut down
x
x
1
1
0
Power stage is inhibited. Motor can be rotated
freely
7
Quick stop
x
x
0
1
x
None
8
Shut down
x
x
1
1
0
Power stage is inhibited. Motor can be rotated
freely
9
Disable voltage
x
x
x
0
x
Power stage is inhibited. Motor can be rotated
freely.
10
Disable voltage
x
x
x
0
x
Power stage is inhibited. Motor can be rotated
freely.
11
Quick stop
x
x
0
1
x
Braking is initiated.
12
Disable voltage or
braking completed
x
x
x
0
x
Power stage is inhibited. Motor can be rotated
freely.
13
Error occurred
Internal transition
For non−critical errors response according to
fault_reaction_option_code. For critical errors
transition 14 follows.
14
Error handling is
completed
Internal transition
Power stage is inhibited. Motor can be rotated
freely.
15
Fault reset and error
eliminated
0−>1 x
x
x
x
Error acknowledgement (at rising edge).
Tab. 13
State transitions of the drive controller
x
not relevant