TR-Electronic MP Series - Figure 9: Profidrive State Machine, Positioning Mode

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06/06/2019 TR - EMO - BA - DGB - 0019 - 08 Page 171 of 252
SC1:
Run enabled
ZSW.2=1
TA4
SC7:
Braking with max.
deceleration
SC2:
Move order active
ZSW.10=0, ZSW.13=0
SC3:
Braking with ramp
SC4:
Pause
ZSW.13=1
SC8:
Referencing
ZSW.11=1
SC9:
Jog
SC5:
Referencing
ZSW.11=1
SC6:
Jog
TA5
TC13:
STW.11=1
TC11:
STW.4=0
TC12:
V = 0
TC15:
STW.8=1 or
STW.9=1
TC16:
STW.8=0
STW.9=0
TC1:
STW.4=1, STW.5=1
Edge on STW.6, referenced
TC3:
STW.10=1, move order complete
TC2:
Edge on STW.6
TC4:
STW.5=0
TC5:
V = 0
ZSW.13=1
TC6:
STW.5=1
TC7:
STW.11=1
TC8:
STW.11=0 or
reference point set
TC9:
STW.8=1 or STW.9=1
TC10:
STW.8=0, STW.9=0
TC14:
STW.11=0 or
reference point set
Figure 9: PROFIdrive state machine, positioning mode