Example Sequence - BONFIGLIOLI Vectron Active Cube User Manual

14.4.3.1 Example Sequence

To start the Profile position mode, the correct sequence has to be sent from the PLC.
1 Control word =
Status word =
2 Modes of
Operation =
3 Control word =
Status word =
4 Control word =
Status word =
5 Control word =
Status word =
6a Control word =
Status word =
6b Control word =
Status word =
6c Control word =
Status word =
6d Control word =
Status word =
7 Control word =
Status word =
1) A profile consists of the following entries. If a value is not changed, the old value
will still be active.
•
•
•
•
04/13
0x0000
1
0x0006
0x0007
0x0007
0x000F
0x0007 or 0x000F
0x001F
0x0007 or 0x000F
0x005F
0x0007 or 0x000F
0x003F
0x0007 or 0x000F
0x007F
0x01nF
Target Position
0x607A
Profile velocity
0x6081
Profile acceleration
0x6083
Profile deceleration
0x6084
CM-CAN ACU
Disable voltage
0x0050 Switch On Disabled
(Profile Positon mode)
Shutdown
0x0031 Ready to switch on
Switch On
0x0033 Switched On
Enable Operation. A positioning is not
started
0xnn37 Operation enabled
Enable Operation, start with absolute
movement Profile
If a motion is already running, that mo-
tion is finished, then the new Profile will
be used.
0xnn37 Operation enabled
Enable Operation, start with relative
movement Profile
If a motion is already running, that mo-
tion is finished, then the new Profile will
be used.
0xnn37 Operation enabled
Enable Operation, start with absolute
movement Profile
A running motion is changed to the new
profile.
0xnn37 Operation enabled
Enable Operation, start with relative
movement Profile
A running motion is changed to the new
profile.
0xnn37 Operation enabled
HALT: The drive is stopped with ramp
Velocity deceleration
0x6049
0xnn37 Operation enabled
1)
.
1)
.
1)
.
1)
.
.
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