Transitions of the state machine
Transition 0
Event Reset / 24V supply is switched on
Action Initialization started
Transition 1
Event Initialization successfully completed, amplifier switch-on inhibit
Action none
Transition 2
Event
Bit 1 (inhibit voltage) and Bit 2 (fast stop) are set in the control word
(command: shutdown). DC-link voltage is present.
Action none
Transition 3
Event Bit 0 (switch-on) is also set (command: switch-on)
Action Output stage is switched on (enabled). Drive has torque.
Transition 4
Event Bit 3 (operation enabled) is also set (command: operation enable)
Action Motion functions are enabled, depending on the operating mode that is set.
Transition 5
Event Bit 3 is canceled (command: inhibit)
Action
Motion functions are disabled.
Drive is braked, using the relevant ramp (depends on operating mode).
Transition 6
Event Bit 0 is canceled (ready for switch-on).
Action Output stage is switched off (disabled). Drive has no torque.
Transition 7
Event Bit 1 or Bit 2 is canceled.
Action (Command: "Fast stop" or "Inhibit voltage")
Transition 8
Event Bit 0 is canceled (operation enabled -> ready for switch-on)
Action Output stage is switched off (disabled) - motor loses torque.
Transition 9
Event Bit 1 is canceled (operation enabled -> switch-on inhibited)
Action Output stage is switched off (disabled) - motor loses torque.
Transition 10
Event Bit 1 or 2 are canceled (ready for operation -> switch-on inhibited)
Action Output stage is switched off (disabled) - motor loses torque.
Transition 11
Event Bit 2 is canceled (operation enabled -> fast stop)
Action
Drive is stopped, using the emergency ramp. The output stage remains enabled.
Setpoints are canceled (e.g motion block number, digital setpoint).
Transition 12
Event Bit 1 is canceled (fast stop -> switch-on inhibited)
Action Output stage is switched off (disabled) - motor loses torque.
Transition 13
Event Error response active
Action Output stage is switched off (disabled) - motor loses torque.
Transition 14
Event Error
Action none
Transition 15
Event Bit 7 is set (error -> switch-on inhibited)
Action Acknowledge error (depending on error – with/without reset)
Transition 16
Event Bit 2 is set (fast stop -> operation enabled)
Action Motion function is enabled again.
The state transitions are affected by internal events (e.g. switching off the DC-link voltage) and by the flags in
the control word (Bits 0, 1, 2, 3, 7).
Setup Software 89
BECKHOFF 07/03 Screen Page "PROFIBUS instrument control"
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