Example Sequence - BONFIGLIOLI Vectron ACTIVE CUBE Series Manual

Status w ord
Name
Target
reached
Bit 10
Homing at-
tained
Bit 12
Homing error
Bit 13
For an exact description of the various homing modes refer to the application manual
"Positioning".

14.4.5.1 Example Sequence

To start the Homing mode, the correct sequence has to be sent from 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!
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.
156
Value
0 Halt = 0: home position not reached
Halt = 1: axle decelerates
1 Halt = 0: home position reached
Halt = 1: axle has velocity 0
0 Homing not yet completed
1 Homing mode carried out successfully
0 No homing error
1 Homing error occurred
Homing mode carried out unsuccessfully
0x0000
0x0050 Switch On Disabled
0x0006
0x0031 Ready to switch on
0x0007
0x0033 Switched On
0x000F
0xnn37 Operation enabled
0x001F
0x1n37 Operation enabled and homing attained.
Modes of Operation
0x6060
0x6060
CM-EtherCAT
Description
Disable voltage
(Homing)
Shutdown
Switch On
Enable Operation.
Enable Operation and start Homing.
is changed during operation (Control word =
Modes of Operation
0x6060
modes of operation
to another value you can start
(i.e. check
07/13