Commissioning
EL70x1150 Version: 4.4
5.6.4 States of the internal state machine
The state (drive controller) (Index 0x9020:03) provides information about the current state of the internal
state machine. For diagnostic purposes this can be read out by the PLC for the propagation delay. The
internal cycle works constantly with 250 µs. A connected PLC cycle is very probably slower (e.g. 1 ms). For
this reason it may be the case that some states are not visible at all in the PLC, since these will sometimes
run through only one internal cycle.
Name ID Description
INIT 0x0000 Initialization/preparation for the next travel command.
IDLE 0x0001 Wait for the next travel command.
START 0x0010 The new command is evaluated and the corresponding calculations are
performed.
ACCEL 0x0011 Acceleration phase.
CONST 0x0012 Constant phase
DECEL 0x0013 Deceleration phase
EMCY 0x0020 An "Emergency stop" has been triggered.
STOP 0x0021 The motor has stopped.
CALI_START 0x0100 Start of a calibration command.
CALI_GO_CAM 0x0110 The motor is being driven towards the cam.
CALI_ON_CAM 0x0111 The cam has been reached.
CALI_GO_SYNC 0x0120 The motor is being driven in the direction of the HW sync pulse.
CALI_LEAVE_CA
M
0x0121 The motor is being driven away from the cam.
CALI_STOP 0x0130 End of the calibration phase.
CALIBRATED 0x0140 The motor is calibrated.
NOT_CALIBRATE
D
0x0141 The motor is not calibrated.
PRE_TARGET 0x1000 The set position has been reached; the position controller "pulls" the motor
further into the target; "In-Target timeout" is started here.
TARGET 0x1001 The motor has reached the target window within the timeout.
TARGET_RESTA
RT
0x1002 A dynamic change of the target position is processed here.
END 0x2000 End of the positioning phase.
WARNING 0x4000 A warning state occurred during the travel command; this is processed here.
ERROR 0x8000 An error state occurred during the travel command; this is processed here.
UNDEFINED 0xFFFF Undefined state (can occur, for example, if the driver stage has no control
voltage).
Table 1: States of the internal state machine
5.6.5 Standard sequence of a travel command
The “normally” sequence of a travel command is shown in the following flow diagram.
Coarse distinction is made between these four stages:
Startup
Test the system and the ready status of the motor.
Start positioning
Write all variables and calculate the desired target position with the appropriate “Start type”. Subsequently,
start the travel command.
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