BONFIGLIOLI Vectron Active Cube, User Manual

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12.5.40 0x60C1/1 Interpolation data record
Index Sub-index Meaning Data type Access Map Def.-Val
0x60C1 0 Highest sub-index supported Unsigned8 ro No 1
1 Interpolation data record 1 Integer32 rw Rx 0
Object works in:
•
Motion Control:
o
Interpolated mode
Object doesn’t work in:
•
Motion Control:
o
Table Travel record mode
o
Profile Positioning mode
o
Profile Velocity mode
o
Velocity mode
o
Homing mode
o
Move away from Limit Switch
o
Electronic Gear: Slave
•
Non motion Control (conf.
≠
x40)
Object 0x60C1/1
interpolation data record 1 is the target position (in user units) used in
interpolation position mode.
Always ensure that a valid position is stored in the Interpolated Data Record.
It is recommended to copy the actual position to the Data Record before starting the
Interpolated mode.
Interpolation position mode uses synchronous RxPDOs. The last received value for ob-
ject 0x60C1/1 is activated with the next SYNC.
The dimension of the user units is set via objects 0x6091
Gear ratio
and 0x6092
Feed
constant
.
Example:
COB ID CB Index SI Data
Read Request 601 40 C1 60 01 00 00 00 00
Reply 581 43 C1 60 01 00 00 05 00
Write Access 601 23 C1 60 01 18 73 01 00
Reply 581 60 C1 60 01 00 00 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
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CM-CAN ACU
04/13