Reference System - BONFIGLIOLI Vectron ACTIVE CUBE Series Manual

The graphical overview contains the most significant objects used. Further objects
might apply to the different modes; check the descriptions of the objects and modes
for further details.
The modes "Cyclic synchronous position mode" and "Cyclic synchronous velocity
mode" are not shown for reasons of better readability. Please refer when using these
modes to the tables and the corresponding chapters.
The Motion Control Interface (MCI) is a defined interface of the ACU device for posi-
tioning control. Typically this interface is used via a Field bus like CANopen.
13.2

Reference system

The Motion Control Interface calculates in most modes in user units. The user units
result through the calculation of the gear factor and the number of pole pairs.
Conversion between user units [u] and frequencies [Hz]
[ ]
=
Hz
f
 
u
=
v     f
s
Feed Constant
Gear Box: Motor shaft revolutions
Gear Box: Driving shaft revolutions
The same formulas can be used for the conversion from acceleration a [Hz/s] to a
[u/s²] and vice versa. Replace in the formulas the velocities f[Hz] and v [u/s] with a
[Hz/s] and a [Hz/s²].
Further details to the reference systems are described in the application manual "Posi-
tioning".
07/13
 
No . of pole pairs
u
⋅ 
v
 

s
1115
Feed Constant
1115
Feed Constant
[ ]
⋅
Hz
373
No . of pole pairs
1115
CM-EtherCAT
⋅
373
Gear Box : Driving
[ ]
u
⋅
G
ear Box : Motor
U
[ ]
u
⋅
G
ear Box : Motor shaft
U
⋅
Gear Box : Driving shaft
0x6092/1 feed
=
0x6091/1 motor shaft revolutions
1116
=
0x6091/2 driving shaft revolutions
1117
=
1116
shaft revolution s
1117
shaft revolution s
1117
revolution s
⋅
1116
revolution s
113