Motion Control Interface (Mci) - BONFIGLIOLI Vectron Active Cube User Manual

13 Motion Control Interface (MCI)

The Motion Control Interface (MCI) is a defined interface of the ACU device for posi-
tioning control via Field bus. Typically this interface is used via a Field bus like CANo-
pen. The Motion Control Interface allows the direct access for a Field bus to change a
Position Profile, which usually consists of Target Position, Speed, Acceleration, Deceler-
ation, Quick-Stop and mode depending additional information.
The Motion Control interface uses object
tween the different modes. The supported modes according to CANopen standard
DS402 are:
1 – Profile Position mode
•
2 – Velocity mode [rpm]
•
• 3 – Profile Velocity mode [u/s]
• 6 – Homing
• 7 – Interpolated mode
Bonfiglioli Vectron defined modes
-1 (or 0xFF) – Table Travel record mode
•
-2 (or 0xFE) – Move Away from Limit Switch
•
-3 (or 0xFD) – Electronic Gear: Slave
•
The actual mode is displayed in
Changing between the Modes of Operation is possible in every operation point of the
ACU.
It is recommended stopping a running operation by the PLC first, then changing
0x6060 Modes of Operation and starting again the new mode.
To use the Motion Control Interface, set 412
machine". In configurations without Position control (C
velocity mode is available.
For the description of the positioning parameters please refer to the "Application manu-
al - Positioning".
154
Modes of Operation
0x6060
Modes of Operation Display
0x6061
Local/Remote
CM-CAN ACU
to change be-
.
= „1 – Control via State-
30 ≠ x40) only the
onfiguration
04/13