Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-63
6.6
Velocity Control
6.6.1
Profile Velocity (PV) Mode
In this mode of operation, the host controller gives the target speed, acceleration, and deceleration to the
Drive. Speed control and torque control are performed by the Drive.
Block Diagram
Velocity
limit
function
Velocity gear ratio
6094-01h:6094-02h
Acceleration
limit
function
Profile acceleration (6083h)
Acceler ation
gear ratio
6097-01h:6097-02h
Quick stop deceleration (6085h)
Profile deceleration (6084h)
Position
trajectory
generator
Controlword (6040h)
Quick stop option code (605Ah)
Motion profile type (6086h)
Profile jerk (60A4h)
Speed
control
Torque
control
[inc/s]
10
4
[inc/s
2
]
[Vel. unit]
[Acc. unit]
Target velocity (60FFh)
Max profile velocity (607Fh)
Speed gear ratio
6094-02h:6094-01h
Position gear ratio
6093-01h:6093-02h
Torque actual value (6077h)
Velocity actual value (606Ch)
Velocity
reached
window
comp arato r
Velocity window (606Dh)
Velocity window
time (606Eh)
Position
limit output
+
-
Target reached in
statusword (6041h)
Position actual value (6064h)
Position actual
internal value
(6063h)
Velocity
demand
value
(606Dh)
Encoder
Motor
Speed Limit
The speed limit is determined by the smaller of 6080h value and 607F value.
Relevant Objects
Object
Bit
Name
Value Description
Controlword
6040h
0
Switch on
0
Disabled
If Bit0 to Bit3 are all 1, the Drive
starts running.
1
Enabled
1
Enable voltage
0
Disabled
1
Enabled
2
Quick stop
0
Disabled
1
Enabled
3
Enable operation
0
Disabled
1
Enabled
8
Halt
0
Executes or continues operation.
