Example Sequence - BONFIGLIOLI Vectron ACTIVE CUBE Series Manual

14.4.2.1 Example Sequence

To start the Profile Velocity mode, the correct sequence has to be sent from the PLC.
1 Control word = 0x0000
1 Status word =
2 Modes of
Operation =
3 Control word = 0x0006
Status word =
4 Control word = 0x0007
Status word =
5 Control word = 0x0007
Status word =
1) A profile consists of the following entries. If a value is not changed, the old value
will still be active.
•
•
•
•
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.
140
3
0x000F
Profile velocity
0x6081
Profile acceleration
0x6083
Profile deceleration
0x6084
Target Velocity
0x60FF
Modes of Operation
0x6060
0x6060
CM-EtherCAT
Disable voltage
0x0050 Switch On Disabled
(Profile Velocity mode)
Shutdown
0x0031 Ready to switch on
Switch On
0x0033 Switched On
Enable Operation, no change to previous
state if already enabled. The Profile Veloc-
ity mode is started with reference velocity
Target Velocity
0x60FF
Profile acceleration
0x6084
Profile deceleration
Velocity and Ramps are taken over imme-
diately.
0xnn37 Operation enabled
is changed during operation (Control word =
Modes of Operation
0x6060
modes of operation
to another value you can start
and Ramp profile
and 0x6084
. Changes to Target
(i.e. check
07/13