Owner's manual

Device control
State diagram
State transitions of the drive controller
8
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KHB 13.0003-EN 2.0
8.1.4 State transitions of the drive controller
The following table lists all states and their meaning. Please observe that bit 15 of the
control word remote_request must always be set to 1 to ensure the parameterisation
authority via the CAN bus.
Transition Command
Control word (bits)
Action
15 7 3 2 1 0
0 Switched on or reset Internal transition Start self-test.
1 Self-test successful Internal transition Activation of CAN communication.
2 Shutdown and
controller and power
stage enable
1 X X 1 1 0 None
3 Switch on 1 X X 1 1 1 Power stage is switched on.
4 Enable operation 1 X 1 1 1 1 Control according to the selected
operating mode.
5 Disable operation 1 X 0 1 1 1 Motor is decelerated and energised at
standstill.
6 Shutdown 1 X X 1 1 0 Power stage is disabled. Motor can be
freely rotated.
7 Quick stop 1 X X 0 1 X None
8 Shutdown 1 X X 1 1 0 Power stage is disabled. Motor can be
freely rotated.
9 Disable voltage 1 X X X 0 X Power stage is disabled. Motor can be
freely rotated.
10 Disable voltage 1 X X X 0 X Power stage is disabled. Motor can be
freely rotated.
11 Quick stop 1 X X 0 1 X Braking is activated.
12 Disable voltage or
braking completed
1 X X X 0 X Power stage is disabled. Motor can be
freely rotated.
13 Error occurred Internal transition With non-critical errors, response
according to fault_reaction_option_
code. With critical errors, transition 14.
14 Error han dling
completed
Internal transition Power stage is disabled. Motor can be
freely rotated.
15 Fault reset and error
removed
1 0->
1
X X X X Error acknowledgement (with rising
edge).
Tab. 12 Status transitions of the controller
Xnotrelevant