BONFIGLIOLI Vectron Active Cube, User Manual

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Example:
COB ID CB Index SI Data
Read Request 601 40 99 60 01 00 00 00 00
Reply 581 43 99 60 01 00 00 05 00
Write Access 601 23 99 60 01 B0 AD 01 00
Reply 581 60 99 60 01 00 00 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
12.5.39 0x609A/0 Homing acceleration
Index Sub-index Meaning Data type Access Map Def.-Val
0x609A 0 Homing acceleration Unsigned32 rw No 0x5 0000
Object works in:
• Motion Control:
o
Homing mode
o
Move away from Limit Switch
Object doesn’t work in:
• Motion Control:
o
Profile Positioning mode
o
Profile Velocity mode
o
Velocity mode
o
Interpolated mode
o
Table Travel record mode
o
Electronic Gear: Slave
• Non motion Control (conf. ≠ x40)
Object 0x609A/0
homing acceleration defines acceleration and deceleration (in user
units per second
2
) during homing.
The set value is also used as reference acceleration and deceleration value in “Move
away from Limit Switch” mode.
Writing to object
homing acceleration automatically generates a write command to pa-
rameter
Acceleration
1134 (data set 5, all data sets in RAM only !).
If object 0x609A/0 was written and then a save parameters command (object 0x1010 )
processed, the object value is stored in non volatile memory.
After the next power on of the inverter, the previously set value is reactivated and
overwrites the setting of parameter
Acceleration
1134.
The dimension of the user units is set via objects 0x6091
Gear ratio
and 0x6092
Feed
constant
.
The values of Object 0x609A/1 are limited as follows:
Parameter Setting
No. Object Min. Max.
0x609A/0 Homing acceleration 1
2147483647
(= 0x7FFF FFFF)
Example:
COB ID CB Index SI Data
Read Request 601 40 9A 60 00 00 00 00 00
Reply 581 43 9A 60 00 00 00 05 00
Write Access 601 23 9A 60 00 90 5F 01 00
Reply 581 60 9A 60 00 00 00 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
04/13
CM-CAN ACU
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