9 Operation without Motion Control
In speed-controlled configurations (including Technology Controller, Electronic Gear
and Torque Control all configurations, except for “x40”), various control modes
are available. The control mode is set via Parameter
Local/Remote 412. For details,
refer to Chapter
11 “Control of frequency inverter”.
In speed-controlled configurations, the reference speed is set via PZD2.
10 Motion Control Interface (MCI)
The Motion Control Interface (MCI) is a defined interface of the ACU device for posi-
tion
ing control via Field Bus. Typically, this interface is used by field bus systems such
as PROFINET. With the Motion Control Interface, the user can carry out a positioning
operation via a field bus using a positioning profile typically including the target pos
tion, speed, acceleration, deceleration, quick stop and mode-specific information.
The Motion Control Interface uses
modes of operation
for switching between the diffe
ent modes. The supported modes as per CANopen
®
Standard DS402 are:
• 1 – Profile Position mode
• 2 – Velocity mode [rpm]
• 3 – Profile Velocity mode [u/s]
• 6 – Homing
• 7 – Interpolated mode (not for PROFINET as field bus)
• 8 – Cyclic sync position mode (not for PROFINET as field bus)
• 9 – Cyclic sync velocity mode (not for PROFINET as field bus)
•
Bonfiglioli Vectron specific mode
• -1 (or 0xFF) – Table Travel record mode
• -2 (or 0xFE) – Move Away from Limit Switch
• -3 (or 0xFD) – Electronic Gear: Slave (electronic gear as slave)
The current mode is shown in
modes of operation display
.
The mode of operation can be switched in any operating state of the ACU.
It is recommended that a currently active movement be stopped by the PLC first, then
to switch the mode of operation and restart in the new mode.
In order to use the Motion Control Interface, 412 Local/Remote = “1 - Control via
statemachine” must be set. In configurations without Motion control (Configuration
≠ x40), only velocity mode vl is available.
For a description of the positioning parameters, please refer to the “Positioning applic
10/13 CM-PROFINET 49
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