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8.11. PLC - Control: new compilation
Select: Project -> Rebuild All
This action updates the information.
8.12. System Manager: Activate configuration
Select: Actions -> Activate Configurations
8.13. PLC - Control: Run
Select: Online -> login
Select: Online -> Run
The PLC and the EtherCAT fieldbus are now running.
In TwinCAT
®
PLC Control, you see the list of the variables and values:
8.14. PLC - Control: start and stop the motor
To modify the MB1 state, refer to CiA402 state chart page 26.
Example to start motor:
1. The MB1 is on “switch on disabled” state.
2. Set “TSB_MB1_RPDO_Output1_Control_Word (%QB0)” = 0x0006
3. The MB1 is on “ready to switch on” state.
4. Set “TSB_MB1_RPDO_Output1_Control_Word (%QB0)” = 0x0007
5. The MB1 is on “switch on” state.
6. Set “TSB_MB1_RPDO_Output1_Control_Word (%QB0)” = 0x000F
7. The MB1 is on “operational Enable” state.
8. Set “TSB_MB1_RPDO_Output2_Target_Velocity (%QB2)” = 0x05DC
9. The Motor stats, and the MB1 displays “50.0”Hz
10. Set “TSB_MB1_RPDO_Output1_Control_Word (%QB0)” = 0x0000
11. The motor stops and MB1 go back on “switch on disabled” state.
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