BONFIGLIOLI Vectron Active Cube, User Manual

Page: 210 / 240

14.4.6.1 Example Sequence
To start the Table travel record mode, the correct sequence has to be sent from the
PLC.
1 Control word = 0x0000 Disable voltage
Status word = 0x0050 Switch On Disabled
2 Modes of Operation = -1 (Table travel record mode)
3 Control word = 0x0006 Shutdown
Status word = 0x0031 Ready to switch on
4 Control word = 0x0007 Switch On
Status word = 0x0033 Switched On
5a Control word = 0x000F Enable Operation.
Status word = 0xnn37 Operation enabled
5b Control word = 0x020F Start Motion Block 1 as Single Motion
Block.
Status word = 0xn337 Operation enabled and Positioning active.
Status word = 0xn637 Operation enabled and Target reached.
5c Control word = 0x0A0F Start Motion Block 2 as Single Motion
Block.
Status word = 0xn337 Operation enabled and Positioning active.
Status word = 0xn637 Operation enabled and Target reached.
5d Control word = 0x120F Start Motion Block 3 as Single Motion
Block.
Status word = 0xn337 Operation enabled and Positioning active.
Status word = 0xn637 Operation enabled and Target reached.
5e Control word = 0x021F Start Motion Block 1 in Sequence Mode
Status word = 0xn337 Operation enabled and Positioning active.
Status word = 0xn637 Operation enabled and Target reached.
5f Control word = 0x004F Resume last Motion Block as Single Mo-
tion Block
Status word = 0xn337 Operation enabled and Positioning active.
Status word = 0xn637 Operation enabled and Target reached.
5g Control word = 0x005F Resume last Motion Block in Sequence
Mode
Status word = 0xn337 Operation enabled and Positioning active.
Status word = 0xn637 Operation enabled and Target reached.
WARNING
Dangerous state due to new mode!
•
When 0x6060
Modes of Operation
is changed during operation (Control word =
0xnnnF), a dangerous state can occur in the new mode.
•
Checking the status word before changing 0x6060 Modes of Operation (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
any danger. After changing 0x6060
modes of operation
to another value you can start
the new operation mode with the according sequence.
210
CM-CAN ACU
04/13