40
Data transfer
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Data transfer
System
state
Designation
Description
0
System initialisation in progress
Initialisation after device reset (e. g. hardware, parameter list,
controller, …)
1
Not ready to switch on
Initialisation completed, no mains or
DC link voltage lower than switch-on threshold
2
Start inhibit
DC link voltage greater than switch-on threshold
3
Ready to switch on
Power stage enabled via hardware (ENPO and ISDSH) and
bit 14 in the MDT
4
Switched on
Power stage is enabled (bit 15 in the MDT = 1)
(State is passed through automatically during control via
SERCOS)
5
Control active
Power supplied to motor, control active
5a
Operation mode active
The operation mode selected is active
5b
Drive stop
Drive stop active (standstill via stop ramp)
5c
Command execution
A command with movement sequence is active;
reference values from the SERCOS master are ignored
7
Fault reaction active
Fault reaction is active, reference values from the SERCOS
master are ignored
8
Error
Drive in fault state, reference values from the SERCOS master
are ignored, no drive torque
Table 7.4
Description of the system states
System
state
transition
Designation
Description
0
START
Initialisation after boot complete
1
UZK OK
DC link voltage greater than switch-on threshold
2
ENABLE VOLTAGE
Communication phase 4 active; ENPO input
=1 and bit 14 in the SERCOS control word = 1
3
ENABLE OPERATION
Communication phase 4 active; bit 15 in the SERCOS control
word = 1
4
DISABLE OPERATION
Communication phase 4 active; bit 15 in the SERCOS control
word = 0
Table 7.5
Description of the system state transitions
System
state
transition
Designation
Description
5
DISABLE VOLTAGE
Communication phase 4 active; ENPO input
=0 and/or bit 14 in the SERCOS control word = 0
6
UZK OFF
DC link voltage lower than shut-off threshold
7
FAULT
Fault event occurred (can occur in any system state)
8
FAULT REACTION ACTIVE
The reaction configured in the parameters for the fault is active
(e.g. fault stop ramp)
9
FAULT RESET
Fault reset using command S-0-0099
Table 7.5
Description of the system state transitions
7.3.6
Non-configurable real-time data
In addition to the mapped data, the MDT and the AT have fixed configured content.
In the MDT this is:
y
Device control: With the aid of this control word, the master controls
the topology of the slave or the ring. The control word is represented in
parameter S-0-1044.0.0, you will find a detailed description in chapter
“10.2.1 Standard parameters” on page 64.
y
Connection control: The connection control word contains, among other
items, the real-time control bits. For diagnostic purposes it is represented in
parameter S-0-1050.0.8 and S-0-1050.1.8, which are descried in more detail
in chapter “10.2.1 Standard parameters” on page 64.
The following data form a fixed part of the AT:
y
Device status: Here the slave signals its actual topology or the detection
of a break in the ring. This status word is represented in parameter "S-0-
1045.0.0" and is described in chapter “10.2.1 Standard parameters” on page
y
Connection status: Contains, among other items, the real-time status bits.
Summary of Contents for ServoOne Series
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