Example Sequence - BONFIGLIOLI Vectron ACTIVE CUBE Series Manual

14.4.8.1 Example Sequence

To start the Table travel record mode, the correct sequence has to be sent from the
PLC.
1 Control word =
1 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.
170
0x0000
0x0050 Switch On Disabled
0x0006
0x0031 Ready to switch on
0x0007
0x0033 Switched On
0x000F
0xnn37 Operation enabled
0x020F
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
0x0A0F
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
0x120F
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
0x021F
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
0x004F
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
0x005F
0xn337 Operation enabled and Positioning active.
0xn637 Operation enabled and Target reached.
Modes of Operation
0x6060
0x6060
CM-EtherCAT
Disable voltage
(Table travel record mode)
Shutdown
Switch On
Enable Operation.
Start Motion Block 1 as Single Motion Block.
Start Motion Block 2 as Single Motion Block.
Start Motion Block 3 as Single Motion Block.
Start Motion Block 1 in Sequence Mode
Resume last Motion Block as Single Motion
Block
Resume last Motion Block in Sequence Mode
is changed during operation (Control word =
Modes of Operation
0x6060
modes of operation
to another value you can start
(i.e. check
07/13