BONFIGLIOLI Active Cube User Manual

10.2.5 Position Controller
The position controller evaluates the positioning operation (target/actual position)
and tries to control the drive such that it comes as close as possible to the specifica-
tions. For this purpose, an additional frequency is calcu
lated for compensation of
position deviations. By setting the corresponding parame
ter, this frequency can be
limited. The parameter settings of the position controller determine how quick and
to what extent position deviations are to be compensated.
Via Time Constant 1104, you can define the maximum time in which the position
deviation is to be compensated.
Via parameter
Limitation 1118, you can define to which value the speed is limited
for compensation of the position deviation.
Parameters
Settings
No.
Description
Min.
Max.
Factory setting
1104 Time Constant 0.00 ms 300.00 ms
10.00 ms
1)
100.00 ms
2)
1118
Limitation
0 u/s
2
31
-1 u/s
327 680 u/s
1)
Factory parameter setting Configuration 30 = 240 or 540
2)
Factory parameter setting Configuration 30 = 440
Example:
Position deviates by 1 motor shaft revolution, time constant is set to 1 ms. The pos
i-
tion controller will increase the motor frequency by 1000 Hz in order to compensate
the position deviation. Parameter Limitation 1118 must be set accordingly.
Controller block diagram
In order to avoid oscillations of the drive while it is at standstill, amplification is re-
duced to 50 % of the parameterized value for small position deviations.
Amplification [%]
Control deviation
of position [°]
0.25-0.25 0.00
50
100
0.50
-0.50
60
ACU Modbus/TCP 10/13

BONFIGLIOLI Active Cube Specifications

General

Brand	BONFIGLIOLI
Model	Active Cube
Category	Inverter
Language	English

Summary

GENERAL SAFETY INSTRUCTIONS AND INFORMATION ON USE

Designated use

Specifies the inverter's intended design and use in industrial plants and machines.

Misuse

Residual risks

Details hazards that cannot be eliminated despite safety-compliant design, including electrical, thermal risks.

Operator's/operating staff's responsibilities

Organizational measures

Handling and installation

Electrical connections

Safe operation

Outlines safety measures during operation, including cover checks and avoiding unauthorized modifications.

Maintenance and service/troubleshooting

Describes procedures for maintenance, inspections, and repairs, emphasizing qualified personnel.

First commissioning

Assembly/disassembly of communication module

Assembly

Details the process for installing the CM-Modbus/TCP communication module into the frequency inverter.

Disassembly

Modbus/TCP interface

Communication modules

Describes the CM-Modbus/TCP and CM-Modbus/TCP-2P modules and their RJ45 ports.

Setup

Operating behavior in the case of a communication error

Protocol

Supported function codes

Lists Modbus function codes used for reading and writing 16-bit and 32-bit values.

PARAMETER ACCESS

Handling of datasets / cyclic writing of parameters

Handling of index parameters / cyclic writing

EXAMPLE MESSAGES MODBUS/TCP

16-bit access

Provides examples of Modbus/TCP telegrams for reading and writing 16-bit parameters.

32-bit access

Demonstrates Modbus/TCP telegram examples for reading and writing 32-bit parameters.

MOTION CONTROL INTERFACE (MCI) / MOTION CONTROL OVERRIDE (MCO)

Motion Control Override

Functions of Motion Control Interface (MCI)

Covers reference systems, modes of operation, and parameters for MCI.

CONTROL OF FREQUENCY INVERTER

Control via contacts/remote contacts

Details control methods using digital inputs and remote contacts, including status word bits.

Control via state machine

Explains control via the state machine using the control word and status word.

Configurations without Motion Control

Motion control configurations

Explains how motion control configurations use control and status word bits for various modes.

Parameter List

Parameters (Menu “Para”)

Lists all available parameters, their ranges, and related chapters.

APPENDIX

Error messages

Explains error codes, their groups, and meanings for motion control and Ethernet communication.