ABB FECA-01 EtherCAT, User Manual

Page: 70 / 148

70 Communication profiles

Profile velocity mode
In the profile velocity operation mode, the module uses the profile
velocity control mode of the drive, instead of the Speed control
mode. The profile velocity control mode is available only in an
ACSM1 drive equipped with Motion Control Program.
The velocity command value is object 0x60FF Target velocity
(inc/s).

Profile torque mode
In the profile torque operation mode, the target torque value is
processed via a trajectory generator on the adapter module, which
generates a linear ramp on the torque command value to the drive.
The torque command value is object 0x6071 Target torque (0.1%).
The torque ramp slope is set with object 0x6087 Torque slope
(0.1% / s).

Velocity mode
The velocity mode is the basic mode to control the velocity of the
drive with limits and ramp functions.
The velocity command value is object 0x6042 vl target velocity
(rpm).
Note: In the velocity operation mode, the operation is governed by
a different set of objects than in other operation modes, namely:
0x6046 vl velocity min max amount, 0x6048 vl velocity
acceleration, 0x6049 vl velocity deceleration, 0x604A vl velocity
quick stop and 0x604C vl dimension factor.

Cyclic synchronous position mode
With this mode, the trajectory generator is located in the master,
not in the drive. The master provides target position values
cyclically and synchronously to the drive that performs position,
velocity and torque control.
The position command value is object 0x607A Target position.