Summa Series Servodrive Product Manual
Appendix
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
12-61
12.3.10
Profile
Velocity
/
Cyclic
Synchronous
Velocity
Mode
Velocity sensor actual value (6069h)
This object contains the current speed from encoder.
Index
Subindex Name
Data Type
Access PDO Mapping
Value
6069h
0
Velocity sensor
actual value
INT32
RO
Yes
－
Velocity Demand Value (606Bh)
This object contains the output value from the velocity trajectory generator or the output value from the
position control function (i.e., the input reference for the speed loop).
Index
Subindex
Name
Data Type
Access PDO Mapping
Value
606Bh
0
Velocity Demand
value
INT32
RO
Yes
－
Velocity Actual Value (606Ch)
This object contains the Motor speed.
Index
Subindex
Name
Data Type
Access PDO Mapping
Value
606Ch
0
Velocity Actual
value
INT32
RO
Yes
－
Velocity Window (606Dh)
This object sets the speed coincidence detection width.
When the time specified in
Velocity Window Time
(606Eh) has passed after the difference between the
target speed and the
Velocity Actual Value
is within the setting of the
Velocity Window
, Bit10 in
Statusword
is set to 1.
Index
Subindex
Name
Data Type
Access PDO Mapping Value
606Dh
0
Velocity Window
UINT16
RW
Yes
0 to 65535
Default: 0
Velocity Window Time (606Eh)
When the time specified in
Velocity Window Time
(606Eh) has passed after the difference between the
target speed and the
Velocity Actual Value
is within the setting of the
Velocity Window
, Bit10 in
Statusword
is set to 1.
Index
Subindex
Name
Data Type
Access PDO Mapping Value
606Eh
0
Velocity Window
Time
UINT16
RW
Yes
0 to 65535
Default: 0
