r) permissible only when the recommended settings from10.4 Motion Control Mapping
for PROFINET have been made.
*) In addition to the Target position in PZD3/4, Profile speed PZD5/6, Acceleration
PZD7/8 and Deceleration 9/10 must be assigned appropriate values > 0. These PZDs
are not shown in the table for reasons of clarity. Generally, it is recommended that all
specified PZDs be changed at the same time.
Dangerous state due to new mode!
If the mode of operation ‘modes of operation’
is changed during operation (control
word = 0xnnnF), a dangerous state may occur in the new mode.
•
BONFIGLIOLI VECTRON recommends checking the status word before changing
the mode of operation (e.g. for status 0xnn33).
Once the sequence of the first four status words has been processed correctly, the
ACU is ready for operation (dark table area).
In state “operation enabled” (0xnnnF), the state of the Motion Control can be
changed (white table area).
With control word transition from 0xnnnF to 0x0007,
“Profile position mode” will be
stopped. Then, the mode can be restarted via 0xnnnF.
As long as 0x0007 is active, the mode of operation can also be changed safely. Once
modes of operation
has been set to another value, operation can be started with a
corresponding sequence.
In order to start a profile, you don't have to set the control word to 0x0007 first be-
fore switching to 0xnnnF.
Once a profile has been processed, a new profile can be started with the bit “New
Setpoint” (bit 4) in control word 0xnnnF.
While a profile is being processed, you can start a new profile without stopping by
using the bits “Change Setpoint immediately” (bit 5) and “New Setpoint” (bit 4).
94 CM-PROFINET 10/13
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