BONFIGLIOLI Vectron Active Cube, User Manual

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17 Motion-control-interface for Profibus connection
The motion control interface is the interface between the communication system and
the motion control system. With factory setting the motion control interface is con-
nected to the CANopen
®
system. This connection can be changed to the Profibus sys-
tem.
As with CANopen
®
parameter
Local/Remote
412 MUST be set to “1” = “control via
state machine”.
The motion control functions are available in configuration x40 only.
This setting is necessary to control the inverter and motion control functions with the
help of Control word (located in PZD1-OUT) and Status word (located in PZD1-IN).
The functions and bit definitions are identical to the descriptions of CANopen
®
.
With Profibus the mode of operation “interpolated position mode” can NOT be used.
In motion control configurations Profibus objects PZD2-OUT (reference speed) and
PZD2-IN (actual speed) have no function.
MCI: motion control interface,
MPG: motion profile generator (trajectory generator),
P: parameter,
S: source,
rpm: revolution per minute
Only the grey marked parameters are necessary for controlling the motion control system by
Profibus.
Input parameters P xxxx must be connected to Profibus OUT sources. These input
parameters are direct accessible with parameter
Control Level
28 set to 3.
Output sources Q xxx must be connected to Profibus IN parameters (PZD-IN ob-
jects).
P 1294 S. Profile Velocity
P 1293 S. Target Position
P 1292 S. Modes of Operation
P 1287 S. Act. Position
P 1286 S. Ref. Position
P 1295 S. Acceleration
P 1296 S. Deceleration
P 1297 S. Target Velocity
P 1298 S. Interpolation Data
Q 742 MCI: Modes of Operation
Q 743 Act. Position [User-Units]
Q 744 MCI: Act. Speed [rpm]
Q 632 MCI: Target Position
Q 633 MCI: Velocity Ref.
Q 634 MCI: Acceleration
Q 635 MCI: Ramp Rise Time
Q 636 MCI: Deceleration
Q 637 MCI: Ramp Fall Time
Q 638 MCI: Interpolated Position
Q 746 MCI: Ramp Param. Switch-Over
Globals
MPG control word
MPG status word
MCI
MCI
control word
status word
Tr
aj
ec
to
ry
g
en
er
at
or
P 1289 S. Homing Done Q 639 MCI: Start Homing P 1288 S. Ext. Homing
MCI
Homing function
CA
N
op
en
d
at
a
in
te
rf
ac
e
P 412 Local/Remote != 1
Int. homing
236
CM-CAN ACU
04/13