Example Sequence - BONFIGLIOLI Vectron Active Cube User Manual

14.4.6.1 Example Sequence

To start the Table travel record mode, the correct sequence has to be sent from the
PLC.
1 Control word =
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!
When
•
0xnnnF), a dangerous state can occur in the new mode.
• Checking the status word before changing
state 0xnn33).
After the sequence of the first four Control word s was processed correctly, the ACU is
enabled (dark marked table area).
In "Operation enabled" state (0xnnnF) the Motion Control states can be changed
(white marked area in table).
With the control word transition from 0xnnnF to 0x0007 the velocity mode is stopped.
After that it is possible to start again with 0xnnnF.
While 0x0007 is active, it is also possible to change the modes of operation without
any danger. After changing
the new operation mode with the according sequence.
210
0x0000
0x0006
0x0007
0x000F
0x020F
0x0A0F
0x120F
0x021F
0x004F
0x005F
Modes of Operation
0x6060
0x6060
CM-CAN ACU
Disable voltage
0x0050 Switch On Disabled
(Table travel record mode)
Shutdown
0x0031 Ready to switch on
Switch On
0x0033 Switched On
Enable Operation.
0xnn37 Operation enabled
Start Motion Block 1 as Single Motion
Block.
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
Start Motion Block 2 as Single Motion
Block.
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
Start Motion Block 3 as Single Motion
Block.
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
Start Motion Block 1 in Sequence Mode
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
Resume last Motion Block as Single Mo-
tion Block
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
Resume last Motion Block in Sequence
Mode
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
is changed during operation (Control word =
Modes of Operation
0x6060
modes of operation
to another value you can start
(i.e. check
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