BONFIGLIOLI Active cube Operation Manual page 87

11.4.2.1 Example sequence
In order to start "Profile velocity mode", the correct sequence must be sent by the
PLC.
1 Control word =
1 Status word =
2 Modes of
Operation =
3 Control word =
Status word =
4 Control word =
Status word =
5 Control word =
Status word =
1) A profile comprises the following entries. If a value is not changed, the old value
will remain active.
1456
•
1457
•
1458
•
1460
•
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).
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.
10/13
0x0000
0x0050 Switch On Disabled
3
0x0006
0x0031 Ready to switch on
0x0007
0x0033 Switched On
0x0007
0x000F
0xnn37 Operation enabled
Override Profile Velocity
Override Profile Acceleration
Override Profile Deceleration
Override Target Velocity pv [u/v]
1454 is changed during operation (control word =
Override Modes Of Operation
1454 has been set to another value, operation
ACU
Modbus/TCP
Disable voltage
Profile Velocity mode
Shutdown
Switch On
Enable operation. Profile velocity mode is
started at the target speed
1460 and the ramps
get Velocity pv [u/s]
Override Profile Acceleration
Override Profile Deceleration
Target speed and ramp values are applied
immediately.
1454 ,
check the status word
Override Tar-
1457 and
1458.
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