72
SI-EtherCAT User Guide
Issue Number: 2
7.8
Cyclic Synchronous Velocity Mode
Cyclic Synchronous Velocity mode will be supported on Unidrive M600 and above in RFC-A and
RFC-S operating modes.
On Unidrive M600 and above, this profile will operate on the control loop cycle time, using the
drive's AMC speed reference (which is read by the drive every 250
µs
, and the AMC will be
configured to run in velocity mode).
The following objects will be supported:
The target_velocity object will be re-read every new profile cycle (as specified by the
interpolation_time_period. This velocity demand will be scaled appropriately and written to the
drive; interpolation will be used to generate additional intermediate values if the
interpolation_time_period is greater than the interval at which the drive will read the hard speed
reference parameter.
7.8.1
Velocity actual value
This object provides the facility to read the actual velocity feedback value.
Table 7-64 Velocity actual value
7.8.2
Target velocity
This object is used to specify the target velocity value. The value is given in user-defined units.
Table 7-65 Target velocity
Index
Name
606C
Velocity actual value
60B1
Velocity Offset
60C2
interpolation_time_period
60FF
target_velocity
0x606C
Velocity actual value
Sub-index 0
Access: RO
Range: -2
31
to +2
31
-1
Size: 4 bytes
Unit: N/A
Default:
0
Type: DINT
Description:
Indicates the actual velocity feedback value.
Value is given per thousandths of RPM (e.g. A value of 100000 equates to 100.0 RPM as
indicated in Pr
03.002
)
0x60FF
Target velocity
Sub-index 0
Access: RW
Range: -2
31
to +2
31
-1
Size: 4 bytes
Unit: N/A
Default:
0
Type: DINT
Description:
Specifies the target velocity value per thousandths of RPM. (e.g. A value of 1000000 equates
to a reference of 1000.0 RPM. In Pr
03.022
)
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