Commissioning
EL70x1
150
Version: 4.4
5.6.4
States of the internal state machine
The state (drive controller) (
Index
0x9020:03) provides information about the current state of the internal
state machine. For diagnostic purposes this can be read out by the PLC for the propagation delay. The
internal cycle works constantly with 250 µs. A connected PLC cycle is very probably slower (e.g. 1 ms). For
this reason it may be the case that some states are not visible at all in the PLC, since these will sometimes
run through only one internal cycle.
Name
ID
Description
INIT
0x0000 Initialization/preparation for the next travel command.
IDLE
0x0001 Wait for the next travel command.
START
0x0010 The new command is evaluated and the corresponding calculations are
performed.
ACCEL
0x0011 Acceleration phase.
CONST
0x0012 Constant phase
DECEL
0x0013 Deceleration phase
EMCY
0x0020 An "
Emergency stop"
has been triggered.
STOP
0x0021 The motor has stopped.
CALI_START
0x0100 Start of a calibration command.
CALI_GO_CAM
0x0110 The motor is being driven towards the cam.
CALI_ON_CAM
0x0111 The cam has been reached.
CALI_GO_SYNC
0x0120 The motor is being driven in the direction of the HW sync pulse.
CALI_LEAVE_CA
M
0x0121 The motor is being driven away from the cam.
CALI_STOP
0x0130 End of the calibration phase.
CALIBRATED
0x0140 The motor is calibrated.
NOT_CALIBRATE
D
0x0141 The motor is not calibrated.
PRE_TARGET
0x1000 The set position has been reached; the position controller "pulls" the motor
further into the target; "
In-Target timeout
" is started here.
TARGET
0x1001 The motor has reached the target window within the timeout.
TARGET_RESTA
RT
0x1002 A dynamic change of the target position is processed here.
END
0x2000 End of the positioning phase.
WARNING
0x4000 A warning state occurred during the travel command; this is processed here.
ERROR
0x8000 An error state occurred during the travel command; this is processed here.
UNDEFINED
0xFFFF Undefined state (can occur, for example, if the driver stage has no control
voltage).
Table 1: States of the internal state machine
5.6.5
Standard sequence of a travel command
The “normally” sequence of a travel command is shown in the following flow diagram.
Coarse distinction is made between these four stages:
Startup
Test the system and the ready status of the motor.
Start positioning
Write all variables and calculate the desired target position with the appropriate “
Start type
”. Subsequently,
start the travel command.
Summary of Contents for EL7031
Page 1: ...Documentation EL70x1 Stepper Motor Terminals 4 4 2017 08 18 Version Date...
Page 2: ......
Page 6: ...Table of contents EL70x1 6 Version 4 4...
Page 48: ...Mounting and wiring EL70x1 48 Version 4 4 Fig 32 Other installation positions example 2...
Page 96: ...Commissioning EL70x1 96 Version 4 4 Fig 90 Incorrect driver settings for the Ethernet port...
Page 179: ...Commissioning EL70x1 179 Version 4 4 Index 7020 POS Outputs Ch 1...
Page 203: ...Commissioning EL70x1 203 Version 4 4 Index 7020 POS Outputs Ch 1...
