BONFIGLIOLI Vectron ACTIVE CUBE Series Manual page 183

Starting of Master/Slave Position Correction in Slave drive
To start the Master/Slave Position correction at first Bit 4 and then Bit 5 have to be
set in the Control word. Bit 5 is only allowed to be set when Bit 10 In Gear is shown in
the Status word.
By setting Bit 5 in the Control word the Slave drive is started to position to the Master
position + Offset.
The acceleration is done with the object
Acceleration
Parameter
As long as the Master/Slave Position correction is executed, Bit 12 is deactivated in
the Status word. When the Master/Slave Position correction was finished successfully
Bit 12 is set.
During the Correction sequence the Status word bit 8 "Master/Slave Position correc-
tion" is set to "Low". As soon as the Master/Slave Position correction is finished or
cancelled, the Bit is set to "High". After first switch-on (or after a device reset) the
"Phasing Done" bit is also "Low".
Since Bit 8 is also used for Phasing, always the last started function is signalled by this
bit.
Offset Reference
The Offset for the M/S Synchronization can be set via Object 0x5F18/0.
0x5F18/0
Application limitations
The function can be used in most of all applications without any limitations. In appli-
cations with very long travelling distances the following must be checked:
•
•
Depending on the used reference system it can vary, which limit is decisive. Always
the smaller limit must be complied with.
A motor with a reference speed of 6000 rpm would have to travel for around 5.5
minutes into one direction to exceed this limit.
07/13
1134). The used velocity can be set up via
1132).
Fast Speed
Object
M/S Synchronization offset
The position difference to be compensated must not be greater than 2
motor revolutions.
The position difference to be compensated must not be greater than 2
user units.
CM-EtherCAT
0x609A/0 0Homing acceleration (o Parameter
0x6099/1
Parameter
1284
M/S Synchronization offset
Homing speed (or
15
-1
31
-1
183