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Drive profile
„ State transition of drive state machine
The drive state machine is controlled by the Controlword object (6040h).
z Controlword object (6040h)
Bit 15
Bit 7
Fault reset
z State transition commands by Controlword
State control command
Shutdown
Switch on
Switch on + enable operation
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset
* When the following conditions are not satisfied, the state will not transition from "Ready to switch on" to "Switched
on" even if the command is received.
The state of ESM is Operational.
The main power is supplied.
The FREE input is being OFF.
The ETO-MON output is being OFF.
Test operation (remote operation) is not being executed using the MEXE02 software.
z State transition other than above
Transition number in the figure
0
1
12
13, 14
If the drive state machine is in a state of any of "Switched on," "Operation enabled," or "Quick stop active," the state
transitions when an event in the table next is generated.
State
Motor operation
Switched on
Operation
enabled
86
Bit 14
Bit 13
Manufacturer specific (ms)
Bit 6
Bit 5
Operation mode specific (oms)
Bit 7
−
−
−
−
−
−
−
0 → 1
Transitions automatically when the control power supply is turned on.
Transitions automatically when the initialization of the driver is completed.
If the Quick stop option code (605Ah) is 1 to 3, transitions to "Switch on disabled"
after the motor stops when the Quick stop command is send.
Transitions if an alarm is generated
Event
• ESM transitions to other
than Operational.
• The main power is shut off.
During stop
• The driver is in the power
removal status.
• The FREE input is ON.
• ESM transitions to other
than Operational.
• The main power is shut off.
During stop
• The driver is in the power
removal status.
• The FREE input is ON.
Bit 12
Bit 11
Bit 10
Reserved
Bit 4
Bit 3
Enable
Quick stop
operation
Bit 3
Bit 2
Bit 1
−
1
1
0
1
1
1
1
1
−
−
0
−
0
1
0
1
1
1
1
1
−
−
−
Transition event
Transitions to "Ready to switch on." (Transition
number 6)
Transitions to "Ready to switch on." (Transition
number 8)
The motor goes into a non-excitation state.
Bit 9
Bit 8
oms
Bit 2
Bit 1
Bit 0
Enable
Switch on
voltage
Transition number in
Bit 0
the figure
0
2, 6, 8
1
3*
1
3+4*
−
7, 9, 10, 12
−
7, 10, 11
1
5
1
4, 16
−
15
Action
Halt
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