BONFIGLIOLI Vectron ACTIVE CUBE - Object and Parameter Relationships

10.1 Object and parameter relationships
Depending on the selected mode of operation, various objects and parameters are
used. The various objects and parameters must be set specifically for the different
modes of operation.
Use of “Deceleration” and “Quick Stop” depends on the modes of operation, control
commands and behavior in the case of communication errors (see Bus Error Beha
v-
iour 388).
The following tables provide an overview of the different objects and parameters. The
object / parameter mentioned first in a cell will typically be used. If an object is
related
to a parameter, the parameter will be specified.
Parameters
1292 Modes of Operation
and following
(1293
,
1294
,
1295
,
1296
&
1297) and 1285 S.Target velocity pv [u/s] are used for linking the internal functions
to CANopen
®
objects. Usually, these need not to be changed when using CANopen
®
.
For PROFINET, they will have to be changed. Please check chapter
10.4 “Motion Con-
trol Mapping for PROFINET” for a setup proposal.
Mode
Homing
Velocity Mode
Profile Velocity Mode
Modes of
Operation
1)2)
6
2
3
Target posi-
tion
Speed
1132 & 1133
Fast speed / Creep speed
1297 S.reference speed
vl [rpm]
2)
1285 S.reference speed pv
[u/s]
2)
Limitation
3)
418 Minimum frequency
419 Maximum Frequen-
cy
418 Minimum frequency
419 Maximum Frequen-
cy
418 Minimum frequency
419 Maximum Frequency
Acceleration
1134 Acceleration
420 Acceleration
(clockwise)
422 Acceleration anti-
clockwise
1295 S.Acceleration
2)
Deceleration
1134 Acceleration
421 Deceleration
(clockwise)
423 Deceleration anti-
clockwise
1296 S.Deceleration
2)
Emergency
stop
4)
Quick Stop
1179 Emergency stop
ramp
424 Emergency stop
clockwise
425 Emergency stop
anticlockwise
1179 Emergency stop
ramp
Homing
Method
1130 Homing type
1) The mode of operation is set via 1292 S. Modes of Operation.
Factory setting: 801 - Obj. 0x6060 modes of 2 – Velocity mode.
2) Parameters 1285, 1292, 1293, 1294, 1295, 1296 & 1297 are used for linking the CANopen
®
objects and internal functions. For CANopen
®
, they don't have to be changed. For PROFINET, refer
to Chapter 10.4 “Motion Control Mapping for PROFINET”.
3) The limitation results from
Minimum frequency 418 and Maximum Frequency 419. Through Limi-
tation
1118 of the position controller in Configuration x40, an increase above the Maximum Fre-
quency can occur, because the output of the position controller is added to the Maximum Frequen-
cy.
4) Emergency stop or Deceleration is used depending on the stopping behavior Mode of opera-
tion
630 or the behavior in the case of communication errors Bus Error Behaviour 388.
50 CM-PROFINET 10/13