13 Motion Control Interface (MCI)
The Motion Control Interface (MCI) is a defined interface of the ACU device for posi-
tioning control via Field bus. Typically this interface is used via a Field bus like CAN
o-
pen. The Motion Control Interface allows the direct access for a Field bus to change a
Position Profile, which usually consists of Target Position, Speed, Acceleration, Decele
ation, Quick-Stop and mode depending additional information.
The Motion Control interface uses object 0x6060
Modes of Operation
to change b
e-
tween the different modes. The supported modes according to CANopen standard
DS402 are:
• 1 – Profile Position mode
• 2 – Velocity mode [rpm]
• 3 – Profile Velocity mode [u/s]
• 6 – Homing
• 7 – Interpolated mode
Bonfiglioli Vectron defined modes
• -1 (or 0xFF) – Table Travel record mode
• -2 (or 0xFE) – Move Away from Limit Switch
• -3 (or 0xFD) – Electronic Gear: Slave
The actual mode is displayed in 0x6061
Modes of Operation Display
.
Changing between the Modes of Operation is possible in every operation point of t
It is recommended stopping a running operation by the PLC first, then changing
0x6060 Modes of Operation and starting again the new mode.
To use the Motion Control Interface, set 412 Local/Remote = „1 – Control via State-
machine”. In configurations without Position control (Configuration 30
velocity mode is available.
For the description of the positioning parameters please refer to the “Application man
154 CM-CAN ACU 04/13
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