Intelligent Motion Systems DSP-402 manual State Machine, Control and Status words

SECTION 4

Device Control

The device control function block controls all the func- tions of the MDrivePlus CANopen and is divided into to sections:

1.Control of the State Machine

2.Operation Mode

Control and Status words

Controlword (Object Index 6040h) controls the state and operation modes of the MDrivePlus CANopen. Statusword (Object Index 6041h) returns the status of the MDrivePlus CANopen.

Device Control

Controlword 6040h

DEVICE CONTROL
		Modes of Operation
Profile Position	State Machine
Profile Velocity		6060h

Statusword 6041h

Figure 4.1: Device Control

State Machine

The State Machine describes the status and control sequence of the MDrivePlus CANopen and specifies the Initialization sta- tus, the Pre-Operational status, the Operational status, and the Stopped status. See Figure 1.2 for a diagrammatic representa- tion of State machine states and state transitions.

	State Machine States
State	Status Description
Not Ready to Switch On	Low Level Power Applied.
	The drive is being initialized or is running a self test.
	A brake, if present, is applied in this state.
	The drive function is disabled.
Switch On Disabled	Drive Initialization is complete.
	The drive parameters have been set up.
	Drive parameters may be changed.
	High Voltage may not be applied to the drive.
	The drive function is disabled.
Ready To Switch On	High Voltage may be applied to the drive.
	The drive parameters may be changed.
	The drive function is disabled.
Switched On	High Voltage has been applied to the drive.
	The Power Amplifier is ready.
	The drive parameters may be changed.
	The drive function is disabled.
Operation Enable	No faults have been detected.
	The drive function is enabled and power is applied to the motor.
	The drive parameters may be changed.
	(This corresponds to normal operation of the drive.)
Quick Stop Active	The drive parameters may be changed.
	The Quick Stop function is being executed.
	The drive function is enabled and power is applied to the motor.
	NOTE: If the ‘Quick-Stop-Option-Code’ is switched to 5 (Stay in Quick-Stop), the
	MDrivePlus cannot exit the Quick-Stop-State, but you can transmit to ‘Operation
	Enable’ with the command ‘Enable Operation’.
Fault Reaction Active	The drive parameters may be changed.
SUPPORT UNDER	A non-fatal fault has occurred in the drive.
	The Quick Stop function is being executed.
DEVELOPMENT
	The drive function is enabled and power is applied to the motor.
Fault	The drive parameters may be changed.
SUPPORT UNDER	A fault has occurred in the drive.
	The drive function is disabled.
DEVELOPMENT
	Table 4.1: State Machine States

Part 2: DSP-402 Implementation 25