YASKAWA Sigma-7 SGD7S Series

14 PROFIdrive Drive Profile
14.1 Device Control
The device control of the SERVOPACK can be used to carry out all the motion functions
in the corresponding modes. The state machine is controlled through the Controlword
STW1 (6040h). The status of the state machine can be revealed by using the Statusword
ZSW1 (6041h).
S1: Switching On Inhibited
(ZSW1 bit 6=true ; 0,1,2,”p.e.”
4
=false)
S2: Ready For Switching On
(ZSW1 bit 0=true ; 1,2,6,”p.e.”
4
=false)
S52: Switching Off:
quick stop
S51: Switching Off:
ramp stop
S3: Switched On
(ZSW1 bit 0,1=true ; 2,6,”p.e.”
4
=false)
S4: Operation
(ZSW1 bit 0,1,2,”p.e.”
4
=true ; 6=false)
Power ON
AND No Coast Stop
AND No Quick Stop
STW1 bit 0=false
AND bit 1=true
AND bit 2=true
STW1 bit 1=false
OR bit 2=false
Coast Stop
STW1 bit 1=false
Quick Stop
STW1 bit 2=false
Quick Stop
STW1 bit 2=false
Standstill detected
OR
Disable Operation
STW1 bit 3=false
S5: Switching Off
ZSW1 bit 0,1,“p.e.”
4
=true
bit 2,6=false
STW1 bit 0=true
ON
STW1 bit 0=true
OFF
STW1 bit 0=false
STW1 bit 0=false
Enable Operation
STW1 bit 3=true
Coast Stop
STW1 bit 1=false
Coast Stop
OR Quick Stop
STW1 bit 1=false
OR bit 2=false
Disable Operation
STW1 bit 3=false
Fault reaction Active
ZSW1 bit 6=false ; 0,1,2,3=true
Drive Error
Fault
ZSW1 bit 0,1,2,6=false ; 3=true
OFF
OFFON
Standstill detected
OR
Disable Operation
STW1 bit 3=false
Coast Stop
OR
Quick Stop
Fault Reset
STW1 bit 7=0→1
4
Fig. 361: PROFIdrive General State Machine
1 STW1 bit x,y means these Controlword bits shall be set
by the controller
2 ZSW1 bit x,y means these Statusword bits indicate the
actual state
3 “Standstill detected” is an internal result of a stop oper-
ation
4 “p.e.” means “Pulses enabled” (not supported)
5 The more dots are on a line, the higher is the priority
6 The Fault reactions are performed according to the
Fault Reaction Option Code (605Eh).
Note: In case of a group 1 alarm or group 2 alarm the
stopping method is based on Pn001.0 and Pn00B.1
parameter setting.
Ä Chap. 15.6 ‘Device Control’ page 543
Ä Chap. 15.6 ‘Device Control’ page 543
State Machine Control
Commands
Bits in PROFINET Status-
word ZSW1 (6041h)
Sigma-7 Series SERVOPACKs
PROFIdrive Drive Profile
Device Control
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