Motion Control Interface (Mci) / Motion Control Override (Mco) - BONFIGLIOLI Active cube Operation Manual

10 Motion Control Interface (MCI) / Motion Control Override (MCO)

The Motion Control Interface (MCI) is a defined interface of the ACU device for position-
ing control via Field Bus. Typically, this interface is used by field bus systems such as
®
CANopen
eration via a field bus using a positioning profile typically including the target position,
speed, acceleration, deceleration, quick stop and mode-specific information.
In the case of Modbus/TCP communication, MCI cannot be used directly. Instead, posi-
tioning is performed via MCO (Motion Control Override), see Chapter 10.1 "Motion Con-
trol Override".
The Motion Control Interface uses parameter
switching between the different modes.
The supported modes as per CANopen
1 – Profile Position mode
•
2 – Velocity mode [rpm]
•
3 – Profile Velocity mode [u/s]
•
6 – Homing
•
• 7 – Interpolated mode (not available when MCO is used)
• 8 – Cyclic sync position mode
• 9 – Cyclic sync velocity mode
Bonfiglioli Vectron specific mode
-1 (or 0xFF) – Table Travel record mode
•
-2 (or 0xFE) – Move Away from Limit Switch
•
• -3 (or 0xFD) – Electronic Gear: Slave (electronic gear as slave)
The mode of operation can be switched in any operating state.
It is recommended that running movements be stopped by the PLC first, then, switch
the mode of operation using
new mode.
In order to use the Motion Control Interface,
statemachine" must be set. In configurations without positioning control (
30 ≠ x40), only velocity mode is available.
For a description of the positioning parameters, please refer to the "Application manual
- Positioning".
52
. With the Motion Control Interface, the user can carry out a positioning op-
Override Modes Of Operation
ACU
Modbus/TCP
Override Modes Of Operation
®
Standard DS402 are:
(not available when MCO is used)
(not available when MCO is used)
Local/Remote
1454 for
1454 and restart in the
412 = "1 - Control via
Configuration
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