S300-S400-S600-S700 PROFIBUS | 6 Process data channel
6.1 Instrument control
The control of the amplifier through PROFIBUS is described with the aid of the status machine
shown below. The status machine is defined in the drive profile by a flow diagram valid for all oper-
ating modes. The following diagram shows different amplifier states for the servo amplifier.
States of the status machine
State Description
Not ready for
switch-on
Servo amplifier is not ready for switch-on. No operation readiness (BTB) is
signaled from the amplifier software.
Switch-on inhibited Servo amplifier is ready for switch-on. Parameters can be transferred, DC
bus link can be switched on, motion functions cannot be carried out yet.
Ready for switch-on DC bus link voltage must be switched on. Parameters can be transferred,
motion functions cannot be carried out yet.
Ready for operation DC bus link voltage must have been switched on. Parameters can be
transferred, motion functions cannot be carried out yet. Output stage is
switched on (enabled).
Operation enabled No error present. Output stage is switched on, motion functions are
enabled.
Fast stop activated Drive has been stopped, using the emergency stop ramp. Output stage is
switched on (enabled), motion functions are enabled.
Error response
active/error
If an amplifier error occurs, the servo amplifier changes to the amplifier
state “Error response active”. In this state, the power stage is switched off
immediately. After this error response has taken place, it changes to the
state “Error”. This state can only be terminated by the bit-command “Error-
reset”. To do this, the cause of the error must have been removed (see
ASCII command ERRCODE).
38 Kollmorgen | kdn.kollmorgen.com | December 2019
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