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_CAM	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_CALIBRATED	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_RESTART	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)