Siko AG06 - Flowchart of the Profile Position Mode (Positioning Mode)

Communication via CAN bus
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 56 of 114
9.7 Flowchart of the Profile Position Mode (positioning mode)
Positioning activ
SW = 110x 0x10 0011 0111
Enter Operational
(NMT)
Switch on disabled
SW = xxxx xxxx x1x1 0000
Operating voltage On
“Shutdown“- command
CW = 0000 0001 0000 0110
“Switch on“- command
CW = 0000 0001 0000 0111
“Enable
operation“command
CW = 0000 0001 0000 1111
Start travel job
CW = 0000 0000 000↑ 1111
Ready to switch on
SW = xxxx xxxx x01x 0001
Switched on
SW = xxxx xxxx x01x 0011
Operation enabled
SW = xxxx xxxx x01x 0111
Drive ready to travel
SW = 0000 0x11 0011 0111
Intermediate stop active
SW = 010x 0x10 0011 0111
Intermediate stop
CW = 0000 0001 000x 1111
Continue positioning
CW = 0000 0000 000x 1111
Cancel positioning job
CW = 0000 0000 0000 0111
Positioning job completed
“Fault reset“- command
CW. 7 = ↑
“Quick-stop“- command
CW = 0000 0000 0000 0010
“Disable Voltage“ command
CW = 0000 0000 0000 0000
Quick stop active
SW = xxxx xxxx x00x 0111
Start Inching 1
CW = 00↑0 0000 0000 1111
Start Inching 2
CW = 0↑00 0000 0000 1111
oder
CW = ↑000 0000 0000 1111
Fault
SW = xxxx xxxx x0xx 1000
SW = Statusword
CW = Controlword
↑ Means change from
0 to 1
X Bit may be 0 or 1
START
Fig. 11: Flowchart of the Profile Position Mode (positioning mode)