Master/Slave Position Correction - BONFIGLIOLI Vectron ACTIVE CUBE Series Manual

14.4.10.1

Master/Slave Position Correction

NOTE
When using this functionality master drive and slave drive have to use the same
mechanical characteristics (i.e. gear transmission ratios) and use the same refer-
ence system.
Preparations Master drive
The Master drive must be set up as follows:
TxPDO2 Identifier
TxPDO2 Function
TxPDO2.Long1
Additionally the following parameters must be set according to the electronic gear:
TxPDO1.Long1
1122
TxPDO1 Identifier
TxPDO1 Function
Preparations Slave drive
The Slave drive must be set up as follows:
RxPDO2 Function
Additionally the following parameters must be set according to the electronic gear:
RxPDO1 Function
Source Master position
The function Master/Slave Position Correction expects the Target Position [u] always
in RxPD2.Long. When using this function RxPDO2.Long1 and also RxPDO2.Word1,
RxPDO2.Word2, RxPDO2.Boolean1 and RxPDO2.Boolean2 are not allowed to be
used for any other purpose.
182
927 = 640 (or a different not used Identifier)
932 = 1 – controlled by time or 2 – controlled by SYNC
964 = 743 – Act. Position [User Units]
954 corresponding to the description of
925 = 384 (or a different not used Identifier)
930 = 1 – controlled by time or 2 – controlled by SYNC
926 = 640 (or the Identifier defined in the Master drive)
924 = 384 (or the Identifier defined in the Master drive)
1122 = 11 – RxPDO1.Long
CM-EtherCAT
Source Master position
07/13