Parameter Dependencies In Motion Control - BONFIGLIOLI Vectron ACTIVE CUBE Series Manual

13.1

Parameter dependencies in Motion Control

Depending on the object
differ. Because the different objects and parameters are used they can and must be set
individually.
Using the Deceleration and Quick Stop is depends on the actual mode of operation,
control commands and error reaction to communication errors (see object
abort connection option code
The following tables contain an overview of the different used objects and parameters.
The first mentioned object or parameter mentioned in a cell is usually used. If an object
relates to a parameter, this parameter is mentioned.
Parameters
1297)
and 1285
pen objects. Usually, these need not to be changed when using CANopen.
Mode Homing
Modes of
6
1)2)
Operation
Target Posi-
tion
Speed Obj. 0x6099/1
ing Speeds
1132 & 1133

3)
Limitation Obj. 0x6046/1
Velocity min max amount
= 418 & 419
Acceleration Obj. 0x609A/0
Acceleration
1134

Deceleration Obj. 0x609A/0
Acceleration
1134

4)
Quick Stop Obj. 0x6085/0
Quick stop deceleration
1179

Ramp
Homing Obj. 0x6098/0
Method Homing method
1130

1) Modes of Operation is selected via 1292
Default setting: 801 - Obj.
2) Parameters 1285, 1292, 1293, 1294, 1295, 1296 & 1297 are used for the connection between
CANopen Objects and internal functions. For CANopen, these do not have to be changed.
3) The limitation is always restricted by 418
1118 of the Position controller in configuration x40 can result in a boost above maximum
Limitation
frequency since the output of the Position Controller is added to the maximum frequency.
4) Quick Stop or Deceleration is used depending on Stopping behaviour 630
Communication fault reaction
108
0x6060 Modes of Operation the used objects and parameters
).
1292 Modes of Operation and following (1293
S.Target velocity pv [u/s]
Velocity Mode
2
& /2 Hom-
1297
Default: 806 - Obj.
0x6042
& /2 Obj.
Velocity min max amount
= 418 & 419
Obj.
Velocity acceleration
= 420 (&422)
Obj.
Velocity deceleration
= 421 (& 423)
Obj.
Quick Stop
= 424 (& 425)
Emergency
S.Modes of Operation.
0x6060 Modes of Operation.
Minimum frequency
abort connection option code
0x6007/0
CM-EtherCAT
are used to link internal functions to CANo-
2)
S.Target velocity
Target Velocity
0x6046/1 & /2
0x6048/0
0x6049/0
0x604A/0 Velocity
and 419
.
0x6007/0
1294 1295 1296
, , ,
Profile Velocity Mode
3
1285
S.Target velocity
2)
pv [u/s]
Default: 816 - Obj.
0x60FF Target Velocity
Obj. 0x6046/1 & /2
Velocity min max amount
= 418 & 419
2)
1295 , Acceleration
Default :804 - Obj.
0x6083 Profile Accelera-
tion
2)
1296 , Deceleration
Default : 805 - Obj.
0x6084 Profile Decelera-
tion
Obj. 0x6085/0
Quick stop deceleration
1179

Emergency
Ramp
Maximum frequency.
or
Operation mode
07/13
&