Drive-Specific Functions; General State Machine - TR-Electronic MP-Series Benutzerhandbuch

Drive-specific functions

6 Drive-specific functions

6.1 General state machine

The state machine defines the internal states, which the encoTRive according to the
PROFIdrive profile can assume, and the events, which lead to the transition between
these states. In Figure 8, the states are designated by Sax, and the transitions by
Tax.
Most states are identified by particular status bits in the status word (ZSW=P968). In
the Figure, these are described by ZSW.x = y. Here, ZSW.3=1 means: "Bit 3 of the
ZSW is set (value 1)".
Most status transitions are initiated by bit patterns, which are set in the control word
(STW=P967). This is identified in the Figure by STW.1=0 ("Set Bit 1 of the STW to 0"),
for example.
STW.7: 0->1 means that an edge from 0 to 1 must be generated on Bit 7 of the
STW.
Other conditions, which give rise to changes of state, are noted after the respective
change of state. With certain changes of state, a range of output states is permissible.
So, for example, in practice, it is possible to change from any state into a "fault" state.
Such transitions are characterized by the output states being bounded by a rectangle
with a solid circle positioned on its edge. This indicates that the output state can be
any state within the rectangle on the edge of which the solid circle is located.
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06/06/2019