Example Sequence - BONFIGLIOLI Vectron ACTIVE CUBE Series Manual

14.4.7.1 Example Sequence

To start "Cyclic Synchronous Velocity mode", the correct sequence has to be sent
from the PLC.
1 Control word =
1 Status word =
2 Modes of Operation = 9
3 Control word =
Status word =
4 Control word =
Status word =
5 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
check state 0xnn33).
After the sequence of the first four Control word s was processed correctly, the ACU is
enabled (dark marked table area).
With the control word transition from 0xnnnF to 0x0007 the "Cyclic Synchronous Posi-
tion 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.
Always ensure that a valid Position is contained in "Target Position". It is recommend-
ed to copy the Actual Position into the "Target Position" before starting.
162
0x0000
0x0006
0x0007
0x000F
Modes of Operation
0x6060
0x6060
CM-EtherCAT
Disable voltage
0x0050 Switch On Disabled
(Cyclic Synchronous Velocity mode)
Shutdown
0x0031 Ready to switch on
Switch On
0x0033 Switched On
Enable Operation.
0xnn37 Operation enabled
is changed during operation (Control word =
0x6060
modes of operation
to another value you can start
Modes of Operation
(i.e.
07/13