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5 Device control
5.2.2 State transitions
State transitions are caused by
• device control commands or
• internal events which lead automatically to status changes
5.2.2.1 State transitions depending on the control word
The device control commands, which cause a state transition, are formed by the four low-order bits of the con-
trol word or local control word.
Chapter "5.3.1 Object 0x6040: Control word", page 27
Chapter "5.3.2 Object 0x4040: Local control word", page 28
Table 20 only lists the transitions depending on the control word. It shows the conditions which the control
word needs to fulfill. Only the fields holding numbers are being verified.
The transitions 10 and 11 are only executed if the reset bit changes from 0 to 1. Transitions 10 and 11 are trig-
gered on the rising edge.
The bits designated with an "x" are irrelevant for the corresponding state transition.
State transition (TR)
5.2.2.2 State transitions through internal events
The following events will lead automatically to status changes:
Transition
© Moog GmbH
Device control command
2
Activate 'DISABLED'
3
Activate 'HOLD'
4
Activate 'DEVICE_MODE'
5
Deactivate 'DEVICE_MODE'
6
Deactivate 'HOLD'
7
Deactivate 'DISABLED'
10
Reset 'FAULT' (disabled)
11
Reset 'FAULT_HOLD'
Table 20: Device control commands
Meaning
0
Switch on supply voltage
1
Device initialization completed
8
Fault detected
9
Fault reaction executed (fault hold)
12
Fault reaction executed (fault)
13
Electrical enable signal on digital input (release) low
14
Electrical enable signal on digital input (release) low
15
Electrical enable signal on digital input (release) low
Table 21: Status transitions through internal events
USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
Control word bit
3
2
1
0
R
M
H
D
x
x
x
1
x
x
1
1
x
1
1
1
x
0
x
x
x
0
0
x
x
0
0
0
1
x
x
x
1
x
x
x
State machine
26
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