Owner's manual

Device control
State diagram
Controller state
8

103
KHB 13.0003-EN 2.0
8.1.6 Controller state
Just asdifferent status transitionscan be activated by combiningseveral bits of thecontrol
word, it is possible to read the current controller status by combining different bits of the
status word .
The following table lists the possible states of the status diagram and the bitcombinations
which are used to display the states in the status word.
Status Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Mask Value
0040
h
0020
h
0008
h
0004
h
0002
h
0001
h
Not_Ready_To_Switch_On 0 X 0 0 0 0 004F
h
0000
h
Switch_On_Disabled 1 X 0 0 0 0 004F
h
0040
h
Ready_to_Switch_On 0 1 0 0 0 1 006F
h
0021
h
Switched_On 0 1 0 0 1 1 006F
h
0023
h
Operation_Enable 0 1 0 1 1 1 006F
h
0027
h
Fault 0 X 1 1 1 1 004F
h
000F
h
Fault_Reaction_Active 0 X 1 1 1 1 004F
h
000F
h
Quick_Stop_Active 0 0 0 1 1 1 006F
h
0007
h
Tab. 14 Controller status
Xnotrelevant
Example:
The above example shows which bits must be set in the control word to enable the
controller. Now, the new status is to be read from the status word:
Transition from Switch_On_Disabled to Operation_Enable:
1. Write status transition 2 to control word.
2. Wait until the status Ready_To_Switch_On is displayed in the status word.
Transition 2: Control word = 8006
h
, wait until (status word + 006F
h
) = 0021
h
is
displayed
1)
3. Status transitions 3 and 4 can be combined and written to the control word.
4. Wait until the status Operation_Enable is displayed in the status word.
Transition 3 and 4: Control word = 800F
h
, wait until (status word + 006F
h
) = 0027
h
is
displayed
1)
The example is based on the assumption that no other bits are set in the control word (only
bits 0 ... 3 are required for the status transitions).
1) Bits which are not set also must be evaluated for the status identification (see table). Therefore, the status word
must be masked accordingly.