Instrument Control - Kollmorgen S300 Original Manual

Process data channel
5.1

Instrument control

The control of the amplifier through PROFIBUS is described with the aid of the status machine
shown below. The status machine is defined in the drive profile by a flow diagram valid for all oper-
ating modes. The following diagram shows different amplifier states for the servo amplifier.
The following table describes the amplifier states and the transitions.
States of the status machine
State
Not ready for switch-on
Switch-on inhibited
Ready for switch-on
Ready for operation
Operation enabled
Fast stop activated
Error response active/error
36
Output stage
not switched on
Start
0
Not ready to
switch-on
1
Switch-on
inhibit
2 7
Ready for
switch-on
3 6
Ready for
9 8
17
operation
5
4
Operation
enabled
Description
servo amplifier is not ready for switch-on. No operation readiness (BTB) is sig-
naled from the amplifier software.
servo amplifier is ready for switch-on. Parameters can be transferred, DC bus
link can be switched on, motion functions cannot be carried out yet.
DC bus link voltage must be switched on. Parameters can be transferred,
motion functions cannot be carried out yet.
DC bus link voltage must have been switched on. Parameters can be trans-
ferred, motion functions cannot be carried out yet. Output stage is switched on
(enabled).
No error present. Output stage is switched on, motion functions are enabled.
Drive has been stopped, using the emergency stop ramp. Output stage is
switched on (enabled), motion functions are enabled.
If an amplifier error occurs, the servo amplifier changes to the amplifier state
"Error response active". In this state, the power stage is switched off
immediately. After this error response has taken place, it changes to the state
"Error". This state can only be terminated by the bit-command "Error-reset".
To do this, the cause of the error must have been removed (see ASCII
command ERRCODE).
04/2017
Error
10 12
11
16
PROFIBUS for S300/S400/S600/S700
Kollmorgen
13
Error response
active
14
Error
15
Output stage
switched-on
Fast Stop