Motion Control; State Machine; Figure 1: State Machine - KEB COMBIVERT F6 Programming Manual

State machine

4 Motion Control

4.1 State machine
The state machine provides information about the actual operating state of the
drive and describes the change between the operating states.
The state machine is controlled via the
events (e.g. occurrence of an error). The actual state is displayed via
0x6041) statusword
machine
The following block diagram displays the state machine. The states are also dis-
played in english in the german documentation with the original english designa-
tions, since these became generally accepted also in German-speaking areas.
quick stop
11
1 24V control voltage applied; voltage power unit can be applied.
2 Voltage power unit applied; no torque at the motor
3 Voltage power unit applied; torque can be applied (flux build-up, speed search etc.)
4 Torque at the motor
21
1

Figure 1: State machine

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. The actual state can be determined additionally via
display.
not ready to
switch on
1
switch on
disabled
2
ready to
12 10
switch on
3
switched on
4
mod off pause active /
protection time active
4
start operation active
4
active operation active
16
17
operation enabled
1fghfh
co00 (CiA 0x6040) controlword
15
7
6
5 8 9
disable shutdown
active
5 8
and internal
st00 (CiA
st12 state
suppressed
error active
fault
19 14
power off fault reaction
active active
20
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