BONFIGLIOLI Vectron ACTIVE CUBE Series Manual page 185

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.
Bit 5 "Start Position Correction" is only allowed to be used when the Slave is in gear
(Status word Bit 10).
Bit 5 "Start Position Correction" should be used for optimum results when the master
drive doesn't move.
When Bit 5 of the Control word is reset to "0" the movement is interrupted.
07/13
Modes of Operation
0x6060
0x6060
CM-EtherCAT
is changed during operation (Control word =
Modes of Operation
0x6060
modes of operation
to another value you can start
(i.e. check
185