BONFIGLIOLI Active cube Operation Manual page 98

Status word
Identification
Target reached
Bit 10
Homing attained
Bit 12
Homing error
Bit 13
For a description of homing operations, refer to the Application manual "Positioning".
11.4.4.1 Example sequence
In order to start "homing mode", the correct sequence must be sent by the PLC.
1 Control word =
1 Status word =
2 Modes of operation = 6
3 Control word =
Status word =
4 Control word =
Status word =
5 Control word =
Status word =
6a Control 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).
With control word transition from 0x0007 (or 0x000F) to 0x001F the homing operation
is started. "Home position set" - Bit 12 returns the status in the status word.
As long as 0x0007 is active, the "Modes of Operation" can also be changed safely. Once
Override Modes Of Operation
started with a corresponding sequence.
96
Value
0 Halt = 0: Home position (still) not reached.
Halt = 1: Axis decelerated.
1 Halt = 0: Home position reached.
Halt = 1: Axis has speed 0.
0 Homing not completed yet.
1 Homing completed successfully.
0 No homing error.
1 Homing error occurred,
homing not completed successfully.
0x0000 Disable voltage
0x0050 Switch On Disabled
(Homing)
0x0006 Shutdown
0x0031 Ready to switch on
0x0007 Switch On
0x0033 Switched On
0x000F Enable operation.
0xnn37 Operation enabled
0x001F Enable operation and start homing.
0x1n37 Operation enabled and homing attained.
1454 is changed during operation (control word =
Override Modes Of Operation
1454 has been set to another value, operation can be
ACU
Modbus/TCP
Description
1454 , check the status word
10/13