BONFIGLIOLI Active cube Operation Manual page 106

11.4.5.1 Example sequence
In order to start "Table travel record mode", the correct sequence must be sent by the
PLC.
1 Control word =
1 Status word =
2 Modes of operation = -1
3 Control word =
Status word =
4 Control word =
Status word =
5a Control word =
Status word =
5b Control word =
Status word =
Status word =
5c Control word =
Status word =
Status word =
5d Control word =
Status word =
Status word =
5E Control word =
Status word =
Status word =
5f Control word =
Status word =
Status word =
5g Control word =
Status word =
Status word =
WARNING
Dangerous state due to new mode!
If
Override Modes Of Operation
0xnnnF), a dangerous state may occur in the new mode.
• Before changing
(e.g. for status 0xnn33).
Once the sequence of the first four status words has been processed correctly, the
ACU is ready for operation (dark table area).
In state "operation enabled" (0xnnnF), the state of the Motion Control can be changed
(white table area).
Bit 9 "Start motion block" must be active during positioning. If bit 9 is reset to "0", the
positioning operation is interrupted.
As long as 0x0007 is active, the "Modes of Operation" can also be changed safely.
Once
Override Modes Of Operation
can be started with a corresponding sequence.
104
0x0000 Disable voltage
0x0050 Switch On Disabled
(Table travel record mode)
0x0006 Shutdown
0x0031 Ready to switch on
0x0007 Switch On
0x0033 Switched On
0x000F Enable operation
0xnn37 Operation enabled
0x020F Start motion block 1 as single motion block
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
0x0A0F Start motion block 2 as single motion block
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
0x120F Start motion block 3 as single motion block
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
0x021F Start motion block 1 as sequence motion
block
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
0x004F Resume previous motion block as single mo-
tion block
0xn337 Operation enabled and positioning active.
0xn637 Operation enabled and target reached.
0x005F Resume previous motion block as sequence
motion block
0xn337 Operation enabled and positioning active.
0xn637 Operation enabled and target reached.
1454 is changed during operation (control word =
Override Modes Of Operation
1454 has been set to another value, operation
ACU
Modbus/TCP
1454 ,
check the status word
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