Dangerous state due to new mode!
If
Override Modes Of Operation 1454 is changed during operation (control word =
0xnnnF), a dangerous state may occur in the new mode.
• Before changing
Override Modes Of Operation 1454
,
check the status word
(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 0xnnF to 0x000F, “Profi
le position mode” will be
stopped. Then, the mode can be restarted via 0xnnF.
As long as 0x0007 is active, the “Modes of Operation” can also be changed safely. Once
Override Modes Of Operation
1454
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.
Once a profile has been processed, a new profile can be started with the bit “New re
f-
erence value” (bit 4) in control word 0xnnnF.
e a profile is being processed, you can start a new profile without stopping by us-
ing the bits “Change reference value immediately” (bit 5) and “New reference value”
(bit 4).
10/13
ACU
Modbus/TCP 93
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