Kollmorgen S300 Translation Of The Original Manual page 39

Transitions of the status machine
Transition Description
0 Event Reset / 24V supply is switched on
Action Initialization started
1 Event Initialization successfully completed, servo amplifier switch-on inhibit
Action none
Event Bit 1 (inhibit voltage) and Bit 2 (fast stop) are set in the control word (command:
2
shutdown). DC bus link voltage is present.
Action none
3 Event Bit 0 (switch-on) is also set (command: switch-on)
Action Output stage is switched on (enabled). Motor has torque.
4 Event Bit 3 (operation enabled) is also set (command: operation enable)
Action Motion functions are enabled, depending on the operating mode that is set.
Event Bit 3 is canceled (command: inhibit)
5
Action Motion functions are disabled.
Motor is braked, using the relevant ramp (depends on operating mode).
6 Event Bit 0 is canceled (ready for switch-on).
Action Output stage is switched off (disabled). Motor has no torque.
7 Event Bit 1 or Bit 2 is canceled.
Action (Command: "Fast stop" or "Inhibit voltage")
8 Event Bit 0 is canceled (operation enabled -> ready for switch-on)
Action Output stage is switched off (disabled) motor has no torque.
9 Event Bit 1 is canceled (operation enabled -> switch-on inhibited)
Action Output stage is switched off (disabled) motor has no torque.
10 Event Bit 1 or 2 are canceled (ready for operation -> switch-on inhibited)
Action Output stage is switched off (disabled) motor has no torque.
Event Bit 4 is canceled (operation enabled -> fast stop)
11
Action Drive is stopped, using the emergency ramp. The output stage remains enabled.
Setpoints are canceled (e.g motion block number, digital setpoint).
12 Event Bit 1 is canceled (fast stop -> switch-on inhibited)
Action Output stage is switched off (disabled) motor has no torque.
13 Event Error response active
Action Output stage is switched off (disabled) motor has no torque.
14 Event Error
Action none
15 Event Bit 7 is set (error -> switch-on inhibited)
Action Acknowledge error (depending on error – with/without reset)
16 Event Bit 4 is set (fast stop -> operation enabled)
Action Motion function is enabled again.
17 Event Bit 2 is canceled
Action Switch-on inhibited, output stage disabled
The state transitions are affected by internal events (e.g. switching off the DC-link voltage) and by
the flags in the control word (Bits 0, 1, 2, 3, 7).
S300-S400-S600-S700 PROFIBUS | 6 Process data channel
Kollmorgen | kdn.kollmorgen.com | December 2019 39