Festo CiA 402 Manual page 90

5 Device Control
the CAN communication is fully operational and the motor controller can be parametrised (e.g. the
"speed adjustment" operating mode can be set). The output stage is switched off and the shaft is freely
rotatable, providing there is no holding brake. Through the status transitions 2, 3, 4 – which corres-
ponds in principle to CAN controller enable – the status OPERATION_ENABLED is reached. In this
status, the output stage is switched on and the motor is controlled in accordance with the set operating
mode. Always make sure beforehand that the drive is correctly parametrised and a corresponding set-
point value is equal to 0.
The status transition 9 corresponds to removal of enable, i.e. a motor that is still running would run
out uncontrolled.
If an error occurs (regardless from which status), the system ultimately switches into the FAULT status.
Depending on the parameterisation of the error response, certain actions, such as emergency braking,
can still be performed (FAULT_REACTION_ACTIVE).
In order to perform the named status transitions, certain bit combinations must be set in the control-
word (see below). The lower 4 bits of the controlword are jointly evaluated in order to trigger a status
transition.
In the following, only the most important status transitions 2, 3, 4, 9 and aE are explained at first.
A table of all possible statuses and status transitions are found at the end of this chapter.
The following table contains the desired status transition in the 1st column and in the 2nd column the
requirements necessary for it (usually a command through the host, here depicted with frame). How
this command is generated, i.e. which bits in the controlword must be set, is visible in the 3rd column
(x = not relevant).
No. Performed when
Output stage and controller
2
enable prev. + command
Shutdown
3
Command Switch On
4
Command Enable Operation
9
Command Disable Voltage
Error eliminated + Fault Reset
aE
command
Tab. 5.2 Most important status transitions of the motor controller
90
Bit combination (controlword)
Bit
Shutdown =
Switch On =
Enable Operation =
Disable Voltage =
Fault Reset =
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Action
3 2 1 0
x 1 1 0 None
Switch on the output
x 1 1 1
stage.
Control in accordance
with the set operating
1 1 1 1
mode.
Output stage is blocked.
x x 0 x
Motor rotates freely.
Bit 7 =
Acknowledge the error.
0 1