State Machine Transitions | Intelligent Motion Systems DSP-402

State Machine Transitions

	Transition	From State	To State		Event/Action
	Number	From State	To State		Event/Action
	Number
	0	Start	Not Ready To Switch	Event:	Reset.
	0	Start	On	Action:	The drive self-tests and/or self-initializes.
			On	Action:	The drive self-tests and/or self-initializes.
				Event:	The drive has self-tested and/or initialized
	1	Not Ready To		Event:	successfully.
		Not Ready To	Switch On Disabled		successfully.
		Switch On	Switch On Disabled	Action:	Activate communication and process data
		Switch On			Activate communication and process data
					monitoring
					monitoring

	2	Switch On Disabled	Ready to Switch On	Event:	‘Shutdown’ command received from host.

				Action:	None.
				Action:	None.
	3			Event:	‘Switch On’ command received from host.
		Ready to Switch On	Switched On
		Ready to Switch On	Switched On	Action:	The power section is switched on if it is not
				Action:	already switched on.
					already switched on.
	4	Switched On	Operation Enable	Event:	‘Enable Operation’ command received from host.

				Action:	The drive function is enabled.
				Action:	The drive function is enabled.
	5			Event:	‘Disable Operation’ command received from
		Operation Enable	Switched On	Event:	host.
		Operation Enable	Switched On		host.
				Action:	The drive operation will be disabled.
	6	Switched On	Ready to Switch On	Event:	‘Shutdown’ command received from host.
	6	Switched On	Ready to Switch On	Action:	The power section is switched off.
				Action:	The power section is switched off.
	7	Ready to Switch On	Switch On Disabled	Event:	‘Quick stop’ command received from host.
	7	Ready to Switch On	Switch On Disabled	Action:	None
				Action:	None
	8			Event:	‘Shutdown’ command received from host.
	8	Operation Enable	Ready to Switch On	Action:	The power section is switched off immediately,
				Action:	and the motor is free to rotate if unbraked
					and the motor is free to rotate if unbraked
	9			Event:	‘Disable Voltage’ command received from host.
	9	Operation Enable	Switch On Disabled	Action:	The power section is switched off immediately,
				Action:	and the motor is free to rotate if unbraked
					and the motor is free to rotate if unbraked
				Event:	‘Disable Voltage’ or ‘Quick Stop’ command
				Event:	received from host.
	10				received from host.
	10	Switched On	Switch On Disabled	Action:	The power section is switched off immediately,
					The power section is switched off immediately,
					and the motor is free to rotate if unbraked
					and the motor is free to rotate if unbraked

	11	Operation Enable	Quick Stop Active	Event:	‘Quick Stop’ command received from host.
	11	Operation Enable	Quick Stop Active	Action:	The Quick Stop function is executed.
				Action:	The Quick Stop function is executed.
					‘Quick Stop’ is completed or ‘Disable Voltage’
	12			Event:	command received from host. This transition
		Quick Stop Active	Switch On Disabled	Event:	is possible, if the Quick-Stop-Option-Code is
		Quick Stop Active	Switch On Disabled		is possible, if the Quick-Stop-Option-Code is
					different 5 (Stay in Quick-Stop)
				Action:	The power section is switched off.
	13	All States	Fault Reaction	Event:	A fault has occured in the drive.
	13	All States	Active	Action:	Execute appropriate fault reaction.
			Active	Action:	Execute appropriate fault reaction.
	14	Fault Reaction		Event:	Fault reaction is completed.
			Fault
					The drive function is disabled, the power section
		Active		Action:	The drive function is disabled, the power section
		Active		Action:	may be switched off.
					may be switched off.
				Event:	‘Fault Reset’ command is recieved from the host.

					A reset of the fault condition is carried out if no
	15	Fault	Switch On Disabled		fault exists currently on the drive. After leaving
	15	Fault	Switch On Disabled	Action:	the ‘Fault’ state the Bit ‘Fault Reset’ of the
				Action:	the ‘Fault’ state the Bit ‘Fault Reset’ of the
					controlword has to be cleared by
					the host.
					‘Enable Operation’ command received from
	16	Quick Stop Active	Operation Enable	Event:	host. This transition is possible if the Quick-Stop-
	16	Quick Stop Active	Operation Enable		Option-Code is 5,6,7 or 8.
				Action:	The drive function is enabled

Table 4.2: State Machine Transitions

26	MDrivePlus CANopen R020507

Image 34

Intelligent Motion Systems DSP-402 manual State Machine Transitions

Contents

Forcetm CANopen DSP402 Application Revision R020507 Contents Device Control Profile Position Mode Optional Application FE General I/O List of Figures This Page Intentionally Left Blank Application Guide MDrivePlus CANopen R020507 Can Message Format IntroductionMDrivePlus Architecture Profile Velocity Mode Section Homing Mode SectionProfile Position Mode Section Device Control Objects and the Object Dictionary Trajectory Generator Xxxx h Index Name Yes/No Category DefaultPDO Mapping Range Intentionally Left Blank Process Data Object PDO Accessing The MDrivePlus CANopenService Data Object SDO PDO Attributes Default Mapping Example Consumer PDO PDO Mapping Procedure Consumer PDOPDO Mapping Consumer PDO1 RPDO1 1400h Entry Description PDO ObjectsConsumer PDO1 RPDO1 1400h Object Description 1600h Object Description Mapping Parameters 1601h Object Description Mapping Parameters Consumer PDO2 RPDO2 1401h Object DescriptionConsumer PDO2 RPDO2 1401h Entry Description 1601h Entry Description Mapping Parameters 1602h Object Description Mapping Parameters Consumer PDO3 RPDO3 1402h Object DescriptionConsumer PDO3 RPDO3 1402h Entry Description 1602h Entry Description Mapping Parameters 1A00h Entry Description Mapping Parameters Producer PDO1 TPDO1 1800h Entry Description1A00h Object Description Mapping Parameters Producer PDO2 TPDO2 1801h Object Description Producer PDO3 TPDO3 1802h Object Description 1A01h Object Description Mapping Parameters1A01h Entry Description Mapping Parameters Producer PDO3 TPDO3 1802h Entry Description 1A02h Entry Description Mapping Parameters Discretes Object 2000h I/O Discretes ConfigAccessibility Codes Unsigned Object 2002h I/O Discretes Config 2002 h Config Input SwitchesObject 2004h Input Filter Mask Config 2006h Input Filter Time 2004hObject 2006h Input Filter Time ms 2020h Software Limits as 2010h Analog InputSee Entry Desc Unsigned Hardware See Table 2031 h Unit Options2032 h Clock Options 2033 h Capture Input Object 2204h Run Current Percent 2204 h Run Current %2205 h Hold Current % Object 2205h Hold Current Percent Integer Options Setting2211h Point Target Ascii Ser. No Factory5002h 5003h State Machine Control and Status words State Machine Transitions Internal Unsigned16 6040 hObject 6040h Controlword Statusword Object 6041h Statusword Bit 5 Quick Stop Active Bit 4 Voltage EnabledBits 12-13 Operation Mode Specific Bit 7 Warning Modes of Operation 6060h Mode of Operation±Integer8 Object 6060h Modes of Operation Object 6061h Modes of Operation Display 6061 h Mode of Operation DisplayObject 6502h Supported Drive Modes = Mode Supported = Mode Not Supported Intentionally Left Blank Trajectory Generator Profile Position ModeGeneral Information Input Data Description Functional Description Set-Point Transmission from Host Computer Controlword 6040h of Profile Position Mode Single Set-Point Mode Move After a Move 6040h Bit 5=0 Possible Integer 607A h Target Position6081 h Profile Velocity 6083 h Profile Acceleration 6082 h End Velocity6084 h Profile Deceleration 6086 h Motion Profile Type Object 6086h Motion Profile Type Output Data Description Homing ModeInput Data Description Internal States 607C h Homing Offset Statusword 6041h of Homing ModeHoming Offset 607Ch Possible ± Integer 6098 h Homing Method± Integer Homing Method 6098h Method 2 Homing on the Positive Limit Switch and Index Pulse Methods 7 to 14 Homing on the Home Switch and Index Pulse Homing on the Negative Home Switch and Index Pulse Methods 17 to 30 Homing without an Index Pulse Methods 15 and 16 ReservedMethods 31 and 32 Reserved Method 35 Homing on the Current Position 6099 h Homing SpeedsMethods 33 and 34 Homing on an Index Pulse Homing Speeds 6099h Intentionally Left Blank 6064 h Position Actual Value 6062 h6063 h Position Actual Value Position Control Function 6068 h Position Window Time 6065 h Following Error Window6066 h Following Error Timeout Unsigned Mfg-Specific Statusword 6041h of Profile Velocity Mode Profile Velocity ModeControlword 6040h of Profile Velocity Mode 606C h Velocity Actual Value Integer Mfg-Specific 60FF h Target Velocity60FF h Maximum Slippage Object 60FFh Target Velocity Optional Application FE General I/O 60FD h Digital InputsObject 60FDh Digital Inputs 60FE h Digital Outputs Object 60FEh Digital Outputs Warranty Excellence in Motion