BONFIGLIOLI Vectron Active Cube User Manual

Status word
Name
Value
Description
Target
reached
Bit 10
0
Halt = 0: home position not reached
Halt = 1: axle decelerates
1
Halt = 0: home position reached
Halt = 1: axle has velocity 0
Homing at-
tained
Bit 12
0
Homing not yet completed
1
Homing mode carried out successfully
Homing error
Bit 13
0
No homing error
1
Homing error occurred
Homing mode carried out unsuccessfully
For an exact description of the various homing modes refer to the application manual
“Positioning”.
14.4.5.1 Example Sequence
To start the Homing 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 =
6
(Homing)
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 =
0x001F
Enable Operation and start Homing.
Status word =
0x1n37
Operation enabled and homing attained.
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 tr
ansition 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.
202 CM-CAN ACU 04/13

BONFIGLIOLI Vectron Active Cube Specifications

General

Brand	BONFIGLIOLI
Model	Vectron Active Cube
Category	DC Drives
Language	English