Motion Control Override - BONFIGLIOLI Active cube Operation Manual

10.1

Motion Control Override

The Motion Control Override feature can be used for specifying a travel profile via serial
communication (VABus or Modbus as well as VABus/TCP or Modbus/TCP). This enables
testing a travel profile in the VPlus user software for Windows when the controller has
not been programmed completely yet. This function can also be used as a simulation
mode.
The Function Motion Control Override does not support the following modes:
• Interpolated Mode.
• Cyclic Synchronous Position Mode
• Cyclic Synchronous Velocity Mode
No.
1454 Override Modes Of Operation
1455 Override Target Position
1456 Override Profile Velocity
1457 Override Acceleration
1458 Override Deceleration
1459 Override Target Velocity vl [rpm]
1460 Override Target Velocity pv [u/s]
Based on the default settings of the Motion Control Interface (parameters P.1292...
P.1297), the override parameters and CANopen
1454
Override Modes Of Operation
1455
Override Target Position
1456
Override Profile Velocity
1457
Override Acceleration
1458
Override Deceleration
1459
Override Target Velocity vl [rpm]
1460
Override Target Velocity pv [u/s]
With the default settings "-1" in parameters P.1455... P.1460 and "0" in parameter
Override Modes Of Operation
parameters P.1292... P.1297 are used. If the parameter settings deviate from the
factory settings, the value of the relevant parameter will be used. It is possible to de-
fine certain ranges of the trajectory via the override function and other values via the
Motion Control Interface.
Target position "-1 u" cannot be approached because
deactivates the override feature.
-1
10/13
Parameters
Description
1454 the values of the Motion Control from the links of
ACU
Modbus/TCP
Settings
Min. Max.
Selection
31 31
-2 -1...2 -1 u
31
-1...2 -1 u/s
31
-1...2 -1 u/s²
31
-1...2 -1 u/s²
-32768...32767 rpm
31 31
-2 -1...2 -1 u/s
®
objects are used as follows:
or 0x6060 Modes of Operation
or
0x607A Target Position
or 0x6081 Profile Velocity
or 0x6083 Profile Acceleration
or
0x6084 Profile Deceleration
or
0x6042 Target Velocity
or
0x60FF Target Velocity
Override Target Position
Factory setting
0
-1 u
-1 u/s
-1 u/s²
-1 u/s²
-1 rpm
-1 u/s
1455
=
53