YASKAWA Sigma-7 SGD7S Series - Page 503

The following figure shows the state diagram of the Profile Position mode. This state dia-
gram is only valid in state "S4: Operation" of the General State Diagram.
S453: Intermediate Stop
(ZSW1 bit 13 = true)
S452: Braking with ramp
(ZSW1 bit 10,13 = false)
S43: Braking with ramp
(ZSW1 bit 10, 13 = false)
AKTSATZ bit 15 = Submode Switch
S44: Homing Procedure
(ZSW1 bit 10, 11, 13 = false)
(ZSW1 bit 10, 11, 13 = true)
AKTSATZ bit 15 = false
S442: Ready
S441: Running
Home position set
S41: BASIC STATE: S4: Operation
(ZSW1 bit 10, 13 = true)
AKTSATZ bit 15 = Submode Switch = SATZANW bit 15
S451: Traversing task active
(ZSW1 bit 10, 13 = false)
AND edge at ZSW1 bit 12
No intermediate stop
STW1 bit 5 = true
Do not reject Traversing Task
AND NO Intermediate Stop
AND activate Traversing Task (Edge)
STW1 bit 4, 5 = true
AND STW1 bit 6 positive edge
Intermediate Stop
STW1 bit 5 = false
Activate Traversing Task (Edge)
STW1 bit 6 positive edge
Reject Traversing Task
STW1 bit 4 = false
or
(SATZANW bit 15 negative edge and MDI-Submode active)
Stop Homing procedure
STW1 bit 11 = false
AND Standstill detected
Start Homing Procedure (Edge)
STW1 bit 11 positive edge
Standstill detected
Standstill detected
END Traversing Task
Activate Traversing Task (Edge)
STW1 bit 6 positive edge
Activate Traversing Task (Edge)
STW1 bit 6 positive edge
Start Homing Procedure (Edge)
STW1 bit 11 positive edge
S45: Traversing task interpolation
AKTSATZ bit 15 = Submode Switch (source of Traversing Task)
Fig. 363: PROFIdrive Position Mode Extended State Diagram
Extended State diagram of
the Position Mode
Sigma-7 Series SERVOPACKs
PROFIdrive Drive Profile
PROFIdrive Position Mode > Overview
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