ABB FEPL-02 Ethernet POWERLINK, User Manual

Page: 76 / 142

76 Communication profiles
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).
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 velocity command value is object 0x60FF Target velocity
(inc/s).
Profile position mode
The profile position mode enables the positioning of the drive to be
controlled. The setting of position set-points is controlled by the
new set-point and the change sets immediately bits in the Control
word as well as the set-point acknowledge bit in the Status word.
The position command value is object 0x607A Target position
(inc).
Homing mode
The homing mode describes various methods of finding a home
position, or a zero point. The switches pointing the home position
can be located at the ends or in the middle of the path that the
moving object is travelling. Most of the methods also use the index
(zero) pulse from an incremental encoder.
For more information on the homing mode and descriptions of the
various homing methods, see the drive manual.