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11.5
PROFIdrive (V4) State Machine
The PROFIdrive profile V4.0 state machine is implemented for all DP-V1 Standard
Telegrams, the operation of the state machine differs between the V2.0 of the PPO
telegrams and the V4.0 of the DP-V1 Standard Telegrams.
This section relates to the V4.0 state machine only, for information on the V2.0 state
machine see section 13.8 PROFIdrive (V2) state machine diagram .
The general state machine diagram (V4.0) is shown Figure 11-1.
The Speed Control state machine is shown in Figure 11-2.
The correct sequence of operation must be used for the state machine otherwise the
message will be rejected and the entire sequence must be restarted. The only exception
to this rule is when moving from state S2, it is possible to bypass state S3 and jump to
state S4 directly.
11.6
Normal Run Sequence
The following sequence can be used to get the motor turning (all bit values refer to the
PROFIdrive control word):
•
Enable network control (bit 10 = 1, 0x0400)
•
Remove all STOP commands (bits 1 & 2 = 1, 0x0406: S1 to S2)
•
Set drive to Ready (bit 0 = 1, 0x0407: S2 to S3)
•
Enable operation (bit 3 = 1, 0x040F: S3 to S4)
•
Enable ramp function generator (bit 4 = 1, 0x041F)
•
Unfreeze ramp function generator (bit 5 = 1, 0x043F)
•
Enable setpoint value (bit 6 = 1, 0x047F)
•
Set the main setpoint value in word 1 (Pr 1.21)
The motor should now accelerate to the speed set by the main setpoint value.
In order to stop the motor, the following options are available:
•
Stop the motor using the drive ramp function: set bit 0 to OFF (0x047E) or
•
Stop the motor and coast to zero speed: set bit 1 to OFF (0x047D) or
•
Stop the motor using 'Quick stop': set bit 2 to OFF (0x047B)
•
Disable drive: set bit 3 to OFF (0x0477)
There is a priority control hierarchy when more than the one stop command is given,
these priorities are shown in the general state machine diagram and summarized in
Table 11.4.
Table 11.4 Stop command priority
Priority
3 (highest)
2 (high)
1 (low)
0 (lowest)
If a network compatibility mode is selected (Pr MM.41<>0) then both DP-V1 functionality
NOTE
and the PROFIdrive (V4) profiles will not be available.
The deceleration rates are set in Pr 2.21 and Pr 2.22 for Ramp Stop and Quick Stop
NOTE
respectively.
64
Control Word Bit
1
2
0
3
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Stop Command
Coast stop
Quick stop (Pr 2.22)
Ramp stop (Pr 2.21)
Disable Operation
SM-PROFIBUS DP-V1 User Guide
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