ABB FPBA-01 - The PROFIBUS State Machine for Positioning Mode

Communication profiles
62
Figure 5. The PROFIBUS state machine for positioning mode
State
condition
E
F
(SW Bit10,13=1)
(CW Bit4,5=1
and
CW Bit6
edge 0
⇒1)
CW = Control Word
SW = Status Word
PROFIBUS
State Machine
for PROFIdrive
Positioning Mode
(CW Bit11=1)
(SW Bit10,11,13=0)
BASIC STATE:
Operating*
HOMING
RUNNING
(SW Bit10,11,13=1)
HOMING
READY
(CW Bit11=0)
(SW Bit10,13=0)
Traversing task
active
(CW Bit5=0)
(CW Bit5=0)
(SW Bit10,13=0)
Braking with
ramp
Intermediate
stop
(CW Bit6 edge
0
⇒1)
F
FF
(SW Bit10,13=0)
(CW Bit4=0)
Braking with
ramp
F
E
*In the “Operating”
state of the General
state machine:
SW bits 0, 1 and 2 = 1
SW bit 6 = 0.