Chapter 5 CANopen Operation Mode
ASDA A2-E
5-10
Revision April, 2015
5.5 Profile Velocity Mode
5.5.1 Description
The drive could receive velocity command and plan acceleration and deceleration.
5.5.2 Operation Procedures
1. Set
【
Mode of operations:6060h
】
to profile velocity mode(0x03).
2. Set
【
Controlword:6040h
】
as (0x06
0x07
0x0F) to Servo ON the drive and
enable the motor.
(After Servo On, the internal velocity command will be reset and OD-60FFh will be
cleared.)
3. Set
【
Profile acceleration:6083h
】
to plan acceleration slope. (millisecond from 0rpm
to 3000rpm)
4. Set
【
Profile deceleration:6084h
】
to plan deceleration slope. (millisecond from 0rpm
to 3000rpm)
5. Set
【
Target velocity:60FFh
】
. The unit of the target velocity is 0.1rpm.
(If the drive is already servo-on, it will work immediately while receiving velocity
command. OD-60FFh will be cleared to 0 if OD-6060h [Mode] is changed, and
Servo-Off or Quick-Stop is activated.)
6. Read
【
Statusword:6041h
】
to obtain the drive status.