BONFIGLIOLI Vectron Active Cube, User Manual

Page: 142 / 240

12.5.34 0x6086/0 Motion profile type
Index Sub-index Meaning Data type Access Map Def.-Val
0x6086 0 Motion profile type Integer16 rw No 3
Object works in:
• Motion Control:
o
Profile Positioning mode
o
Profile Velocity mode
o
Interpolated mode
o
Move away from Limit Switch
o
Electronic Gear: Slave
Object doesn’t work in:
• Motion Control:
o
Table Travel record mode
o
Velocity mode
o
Homing mode
•
Non motion Control (conf.
≠
x40)
Object 0x6086 motion profile type defines the ramp behavior for accelera-
tion/deceleration.
Supported values for
motion profile type:
0 – linear ramp
3 – jerk limited ramp
In mode 3 “jerk limited ramp”, the ramp uses the parameters:
Ramp Rise Time
1176
Ramp Fall Time
1178
•
The Ramp Rise/Fall time in Table travel record mode is defined via parameters
1205 and 1207.
• The Ramp Rise/Fall time in
Homing mode is defined via parameter 1135.
• The Ramp Rise/Fall time in
Velocity mode and in Non-Motion Control configu-
rations
is defined via parameters 430…433.
•
The Ramp Rise/Fall times in these modes are independent of the settings of
object 0x6086.
Example:
COB ID CB Index SI Data
Read Request 601 40 86 60 00 00 00
Reply 581 4B 86 60 00 03 00
Write Access 601 2B 86 60 00 03 00
Reply 581 60 86 60 00 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
142
CM-CAN ACU
04/13