13
Motion Control Interface (MCI)
The Motion Control Interface (MCI) is a defined interface of the ACU device for posi-
tioning control via Field bus. Typically this interface is used via a Field bus like CANo-
pen. The Motion Control Interface allows the direct access for a Field bus to change a
Position Profile, which usually consists of Target Position, Speed, Acceleration, Deceler-
ation, Quick-Stop and mode depending additional information.
The Motion Control interface uses object
to change be-
tween the different modes. The supported modes according to CANopen standard
DS402 are:
•
1 – Profile Position mode
•
2 – Velocity mode [rpm]
•
3 – Profile Velocity mode [u/s]
•
6 – Homing
•
7 – Interpolated mode
Bonfiglioli Vectron defined modes
•
-1 (or 0xFF) – Table Travel record mode
•
-2 (or 0xFE) – Move Away from Limit Switch
•
-3 (or 0xFD) – Electronic Gear: Slave
The actual mode is displayed in
Changing between the Modes of Operation is possible in every operation point of the
ACU.
It is recommended stopping a running operation by the PLC first, then changing
Modes of Operation and starting again the new mode.
To use the Motion Control Interface, set 412
Local/Remote
= „1 – Control via State-
machine”. In configurations without Position control (C
onfiguration
30 ≠ x40) only the
velocity mode is available.
For the description of the positioning parameters please refer to the “Application manu-
al - Positioning”.
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CM-CAN ACU
04/13
Summary of Contents for Vectron Active Cube
Page 1: ...ACTIVE CUBE CANopen Communication module CM CAN Frequency inverter 230 V 400 V...
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