Example Sequence - BONFIGLIOLI Vectron ACTIVE CUBE Series 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 = 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 =
6a Control word = 0x0007 or 0x000F
Status word =
6b Control word = 0x0007 or 0x000F
Status word =
6c Control word = 0x0007 or 0x000F
Status word =
6d Control word = 0x0007 or 0x000F
Status word =
7 Control word = 0x01nF
Status word =
1) A profile consists of the following entries. If a value is not changed, the old value
will still be active.
•
•
•
•
07/13
1
0x000F
0x001F
0x005F
0x003F
0x007F
Target Position
0x607A
Profile velocity
0x6081
Profile acceleration
0x6083
Profile deceleration
0x6084
CM-EtherCAT
Disable voltage
0x0050 Switch On Disabled
(Profile Position 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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