BECKHOFF EL7037 - Manual (Page 144)

Commissioning
Target overrun:
In the case of a dynamic change of the target position, the change may take place at a relatively late point in
time. The consequence of this may be that a change in the direction of rotation is necessary and that the
new target position may be overrun. “Target overrun” is set if this occurs.
States of the internal state machine
States of the internal state machine
The state (drive controller) (Index 9020:03 [ } 188]) provides information about the current state of the internal
state machine. For diagnostic purposes this can be read out by the PLC for the propagation delay. The
internal cycle works constantly with 250 µs. A connected PLC cycle is very probably slower (e.g. 1 ms). For
this reason it may be the case that some states are not visible at all in the PLC, since these will sometimes
run through only one internal cycle.
Name ID Description
INIT 0x0000 Initialisation/preparation for the next travel command
IDLE 0x0001 Wait for the next travel command
START 0x0010 The new command is evaluated and the corresponding
calculations are performed
ACCEL 0x0011 Acceleration phase
CONST 0x0012 Constant phase
DECEL 0x0013 Deceleration phase
EMCY 0x0020 An “Emergency stop” has been triggered
STOP 0x0021 The motor has stopped
CALI_START 0x0100 Start of a calibration command
CALI_GO_CAM 0x0110 The motor is being driven towards the cam
CALI_ON_CAM 0x0111 The cam has been reached
CALI_GO_SYNC 0x0120 The motor is being driven in the direction of the HW sync pulse
CALI_LEAVE_CAM 0x0121 The motor is being driven away from the cam
CALI_STOP 0x0130 End of the calibration phase
CALIBRATED 0x0140 The motor is calibrated
NOT_CALIBRATED 0x0141 The motor is not calibrated
PRE_TARGET 0x1000 The set position has been reached; the position controller “pulls”
the motor further into the target; “In-Target timeout” is started
here
TARGET 0x1001 The motor has reached the target window within the timeout
TARGET_RESTART 0x1002 A dynamic change of the target position is processed here
END 0x2000 End of the positioning phase
WARNING 0x4000 A warning state occurred during the travel command; this is
processed here
ERROR 0x8000 An error state occurred during the travel command; this is
processed here
UNDEFINED 0xFFFF Undefined state (can occur, for example, if the driver stage has
no control voltage)
States of the internal state machine
Standard sequence of a travel command
Standard sequence of a travel command
The “normally” sequence of a travel command is shown in the following flow diagram.
Coarse distinction is made between these four stages:
EL70x7 144 Version 1.0