Siko AG06 - Flowchart of the Profile Velocity Mode Operation Mode (Velocity Mode)

Communication via CAN bus
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 57 of 114
9.8 Flowchart of the Profile Velocity Mode operation mode (velocity mode)
SW = Statusword
CW = Controlword
↓ Means change from
1 tot 0
↑ Means change from
0 to 1
X Bit may be 0 or 1
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 Velocity Mode
CW = 000 0000 0000 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 raedy to travel
SW = 0001 0x11 0011 0111
Stop Velocity Mode
CW = 0000 0001 0000 1111
or Setpoint = 0
“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
Fault
SW = xxxx xxxx x0xx 1000
Change target value
CW = 0000 0000 0000 1111
Velocity Mode activ
SW = 0000 0x10 0011 0111
START
Fig. 12: Flowchart of the Profile Velocity Mode (velocity mode)