14.4.2.1
Example Sequence
To start the Profile Velocity mode, the correct sequence has to be sent from the PLC.
1 Control word = 0x0000
Disable voltage
1 Status word =
0x0050 Switch On Disabled
2 Modes of
Operation =
3
(Profile Velocity mode)
3 Control word = 0x0006
Shutdown
Status word =
0x0031 Ready to switch on
4 Control word = 0x0007
Switch On
Status word =
0x0033 Switched On
5 Control word = 0x0007
0x000F
Enable Operation, no change to previous
state if already enabled. The Profile Veloc-
ity mode is started with reference velocity
0x60FF
Target Velocity
and Ramp profile
. Changes to Target
Velocity and Ramps are taken over imme-
diately.
Status word =
0xnn37 Operation enabled
1) A profile consists of the following entries. If a value is not changed, the old value
will still be active.
•
•
•
•
0x60FF
Target Velocity
WARNING
Dangerous state due to new mode!
•
When
is changed during operation (Control word =
0xnnnF), a dangerous state can occur in the new mode.
•
Checking the status word before changing
(i.e. check
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
to another value you can start
the new operation mode with the according sequence.
186
CM-CAN ACU
04/13
Summary of Contents for Vectron Active Cube
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