BONFIGLIOLI Active cube Operation Manual page 110

11.4.6.1 Example sequence
In order to clear the limit switches, the correct sequence must be sent by the PLC.
1 Control word =
1 Status word =
2 Modes of operation = -2
3 Control word =
Status word =
4 Control word =
Status word =
5 Control word =
Status word =
6 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 4 "Move away from limit switch" must be active in the clearing phase. If bit 4 is
reset to "0", the clearing 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.
108
0x0000 Disable voltage
0x0050 Switch On Disabled
(Move away from limit switch)
0x0006 Shutdown
0x0031 Ready to switch on
0x0007 Switch On
0x0033 Switched On
0x000F Enable Operation.
0xnn37 Operation enabled
0x001F Move away from limit switch mode
0xn2B7 Operation enabled, limit switch active, clear-
ing active
0xn637 Operation enabled and limit switch cleared
(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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