0X6086/0 Motion Profile Type - BONFIGLIOLI Vectron Active Cube User Manual

12.5.34 0x6086/0 Motion profile type

Index Sub-index
0x6086 0
Object works in:
• Motion Control:
Profile Positioning mode
o
Profile Velocity mode
o
Interpolated mode
o
Move away from Limit Switch
o
Electronic Gear: Slave
o
Object 0x6086
tion/deceleration.
Supported values for
0 – linear ramp
3 – jerk limited ramp
In mode 3 "jerk limited ramp", the ramp uses the parameters:
Ramp Rise Time
Ramp Fall Time
• The Ramp Rise/Fall time in
1205 and 1207.
• The Ramp Rise/Fall time in
• The Ramp Rise/Fall time in
rations is defined via parameters 430...433.
• The Ramp Rise/Fall times in these modes are independent of the settings of
object 0x6086.
Example:
Read Request
Reply
Write Access
Reply
CB: Control byte
142
Meaning
Motion profile type
motion profile type
motion profile type
1176
1178
COB ID CB
601 40
581 4B
601 2B
581 60
SI: Sub Index All values in hexadecimal without leading 0x
CM-CAN ACU
Data type
Integer16
Object doesn't work in:
• Motion Control:
o
o
o
Non motion Control (conf. ≠ x40)
•
defines the ramp behavior for accelera-
:
Table travel record mode
Homing mode is defined via parameter 1135.
Velocity mode
and in Non-Motion Control configu-
Index SI Data
86 60 00 00 00
86 60 00 03 00
86 60 00 03 00
86 60 00 00 00
Access Map Def.-Val
rw No
Table Travel record mode
Velocity mode
Homing mode
is defined via parameters
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