Moog ACV Series - State Transitions; DSM State Transitions Caused by the Control Word

Moog ACV with CANopen bus interface 5 Device control
Device state machine (DSM)
B99224-DV018-D-211, Rev. A, October 2018 49
5.2.2 State transitions
State transitions are caused by
• The control word #ControlWord#
• Enable signal (digital input 0)
• Internal events
5.2.2.1 DSM state transitions caused by the control word
The following table lists the transitions depending on the #ControlWord#.
 Chapter "5.2 Device state machine (DSM)", page 46
The device control commands, which cause a state transition, are formed by the four low-order bits of the
#ControlWord#.
 Chapter "5.1 Local mode", page 43
Every transition between the actual state and the requested state will be processed.
Transition (TR) Control Word
Control word bit Comments/Conditions
76543210
RMHD
TR2 Activate 'DISABLED' xxxxxxx1
TR3 Activate 'HOLD' xxxxxx11Depending on enable signal
 Chapter "5.2.2.4 Enable behavior",
page 50
TR4 Activate 'ACTIVE' xxxxx111Depending on enable signal
 Chapter "5.2.2.4 Enable behavior",
page 50
TR5 Deactivate 'ACTIVE xxxxx0xX
TR6 Deactivate 'HOLD' xxxxx00X
TR7 Deactivate 'DISABLED' xxxxx000
TR10 Reset 'FAULT_DISABLED' xxxx0001This transition is executed if the reset
bit changes from 0 to 1 (rising edge) or
the enable signal toggles from 0 to 1.
 Chapter "5.2.2.4 Enable behavior",
page 50
Behavior of error output pin:
 Chapter "5.2.2.5 Error output pin",
page 52
change to
xxxx1001
TR11 Reset 'FAULT_HOLD' xxxx0011This transition is executed if the reset
bit changes from 0 to 1 (rising edge) or
the enable signal toggles from 0 to 1.
 Chapter "5.2.2.4 Enable behavior",
page 50
Behavior of error output pin:
 Chapter "5.2.2.5 Error output pin",
page 52
change to
xxxx1011
TR14 Reset 'FAULT_INIT' xxxx0000This transition is executed if the reset
bit changes from 0 to 1 (rising edge) or
the enable signal toggles from 0 to 1.
 Chapter "5.2.2.4 Enable behavior",
page 50
Behavior of error output pin:
 Chapter "5.2.2.5 Error output pin",
page 52
change to
xxxx1000
TR15 'FAULT_HOLD' to
'FAULT_DISABLED'
xxxxx001
TR16 'FAULT_DISABLED' to
'FAULT_INIT'
xxxxx000