Siko AG25 - 8.2.1.2.4 Flow Chart: Speed Mode

EtherCAT®
AG25, AG26 Date: 09.07.2018 Art. No. 88094 Mod. status 225/18 Page 35 of 109
8.2.1.2.4 Flow chart: Speed mode
Fig. 14: Flowchart of speed mode EtherCAT®
Operation enabled
SW = 0000 x001 00x0 00x1
Enable operation
CW = 0000 0000 0000 0111
Ready for travel
SW = 0000 x001 00x0 0011
Enable setpoint
CW = 0000 0000 0001 0111
Setpoint enabled
SW = 0000 x101 01xx 0001
Change target value
Disable setpoint
CW.4 = 0
Fault
SW7 = 1
CW.5 = 1
Switch-lock
SW.9 = 1
Start
Supply voltage On
CW = 0000 0000 0000 0000
CW = Control word
SW = Status word
x = Bit can be ‘0‘ or ‘1‘
OFF1 CW.0 = 1/0 or
OFF2 CW.1 = 1/0 or
OFF3 CW.2 = 1/0
Unlock switch-lock
Cancel travel job