BONFIGLIOLI Vectron ACTIVE CUBE Series Manual page 6

12.5.39 0x609A/0 Homing acceleration............................................................................. 102
12.5.40 0x60C1/1 Interpolation data record ...................................................................... 103
12.5.41 0x60F4/0 Following error actual value .................................................................. 105
12.5.42 0x60F8/0 Max Slippage [u/s] ............................................................................... 106
12.5.43 0x60FF/0 Target Velocity [u/s] ............................................................................. 106
13 Motion Control Interface (MCI) ................................................................................. 107
13.1 Parameter dependencies in Motion Control ..................................................... 108
13.2 Reference system ............................................................................................. 113
13.3 Homing ............................................................................................................. 114
13.3.1 Start position after homing ..................................................................................... 114
13.3.2 Flying homing ........................................................................................................ 114
13.4 Position Controller ............................................................................................ 114
13.5 Move away from Hardware limit switches ....................................................... 115
13.6 Motion Control Interface for Experts ............................................................... 116
13.7 Motion Control Override ................................................................................... 117
14 Inverter Control ......................................................................................................... 118
14.1 Control via digital inputs/remote digital inputs ............................................... 119
14.1.1 Device State machine ............................................................................................. 121
14.2 Control via state machine ................................................................................. 122
14.2.1 Statemachine diagram ............................................................................................ 124
14.3 Non motion control configurations .................................................................. 127
14.3.1 Behaviour in quick stop ........................................................................................... 127
14.3.2 Behaviour in transition 5 (Disable operation) ............................................................ 128
14.3.3 Reference value / actual value ................................................................................ 129
14.3.4 Example Sequence ................................................................................................. 130
14.4 Motion control configurations .......................................................................... 131
14.4.1 Velocity mode [rpm] ............................................................................................... 132
14.4.1.1 Example Sequence ........................................................................................... 135
14.4.2 Profile Velocity mode [u/s] ...................................................................................... 137
14.4.2.1 Example Sequence ........................................................................................... 140
14.4.3 Profile position mode .............................................................................................. 141
14.4.3.1 Example Sequence ........................................................................................... 147
14.4.4 Interpolated position mode ..................................................................................... 149
14.4.4.1 Example Sequence ........................................................................................... 153
14.4.5 Homing mode ........................................................................................................ 154
14.4.5.1 Example Sequence ........................................................................................... 156
14.4.6 Cyclic Synchronous position mode ........................................................................... 157
14.4.6.1 Example Sequence ........................................................................................... 159
14.4.7 Cyclic Synchronous Velocity mode ........................................................................... 160
14.4.7.1 Example Sequence ........................................................................................... 162
14.4.8 Table travel record ................................................................................................. 163
14.4.8.1 Example Sequence ........................................................................................... 170
14.4.9 Move away from Limit switches ............................................................................... 171
14.4.9.1 Example Sequence ........................................................................................... 174
14.4.10 Electronic Gear: Slave ......................................................................................... 175
14.4.10.1 Master/Slave Position Correction ...................................................................... 182
14.4.10.2 Sequence Example .......................................................................................... 184
15 Parameter list ............................................................................................................. 186
15.1 Actual values .................................................................................................... 186
6 CM-EtherCAT 07/13