The graphical overview contains the most significant objects used. Further objects
might apply to the different modes; check the descriptions of the objects and modes
for further details.
The Motion Control Interface (MCI) is a defined interface of the ACU device for posi-
tioning control. Typically this interface is used via a Field bus like CANopen.
13.2 Reference system
The Motion Control Interface calculates in most modes in user units. The user units
result through the calculation of the gear factor and the number of pole pairs.
Conversion between user units [u] and frequencies [Hz]
[
]
[ ]
1117
1115
1116
373
U
u
.
Hz
s
u
v
f
s
revolution
shaft
Motor:
Box
ear
Constant Feed
s
revolution
shaft
Driving
:
Box
Gear
G
pairspoleofNo
⋅
⋅
⋅
=
[
]
[ ]
⋅
⋅
⋅
⋅
=
1116
373
11171115
.
U
u
Hz
f
s
u
v
srevolution
shaftDriving
:Box
Gear
srevolution
shaft
Motor
:Box
ear
Constant
Feed
pairs
pole
of
No
G
Gear Box: Motor shaft revolutions 1116
Gear Box: Driving shaft revolutions 1117
0x6091/1 motor shaft revolutions
0x6091/2 driving shaft revolutions
The same formulas can be used for the conversion from acceleration a [Hz/s] to a
[u/s²] and vice versa. Replace in the formulas the velocities f[Hz] and v [u/s] with a
04/13 CM-CAN ACU 159
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