Motion-Control-Interface For Profibus Connection - BONFIGLIOLI Vectron Active Cube User Manual

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
tem.
As with CANopen
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.
P 1288 S. Ext. Homing
P 1286 S. Ref. Position
P 1287 S. Act. Position
P 1292 S. Modes of Operation
P 1293 S. Target Position
P 1294 S. Profile Velocity
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]
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
Output sources Q xxx must be connected to Profibus IN parameters (PZD-IN ob-
jects).
236
®
system. This connection can be changed to the Profibus sys-
®
parameter Local/Remote 412 MUST be set to "1" = "control via
Q 639 MCI: Start Homing
Int. homing
P 412 Local/Remote != 1
MCI
CM-CAN ACU
Homing function
P 1289 S. Homing Done
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 control word
MCI status word
28 set to 3.
Control Level
®
.
04/13