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INOVANCE TECHNOLOGY EUROPE GmbH
MD800 EtherCAT Starting Guide_EN_v1.1_20211109.docx
6.4
CIA402 PROTOCOL
The SI-ECAT only supports the CiA402 PV and CSV profiles. Although these two profiles are open loop since the
MD800 does not support speed feedback.
6.4.1
VELOCITY MODE
In this mode of operation, the host controller gives the target speed, acceleration, and deceleration to the
MD800 drive. Speed control and torque control are performed by the drive.
The below table shows the PV profile related objects:
Index
(hex)
Sub-
index
(hex)
Drive
Parameter
Name
Access
Data
Type
Unit
Value Range
6040
00
Control word
RW
Uint16
-
0~65535
6041
00
Status word
RO
Uint16
-
0~65535
6060
00
Modes of operation
RW
Int8
-
0~9
6061
00
Modes of operation
display
RO
Int8
-
0~9
6042
00
vl target velocity
RW
Int16
Hz/RPM -32768~32767
606C
00
Velocity actual value
RO
Int32
-2
31
~ (2
31
-1)
6077
00
Torque actual value
RO
6046
01
F0-14
vl velocity min amount
RW
Uint32
2
32
-1
02
F0-10
vl velocity max amount
RW
Uint32
2
32
-1
6048
01
F0-17
vl velocity acceleration.
Delta Speed
RW
Uint32
2
32
-1
02
vl velocity acceleration.
Delta Time
RW
Uint16
0~65535
6049
01
F0-18
vl velocity acceleration.
Delta Speed
RW
Uint32
2
32
-1
02
vl velocity acceleration.
Delta Time
RW
Uint16
0~65535
With this mode, the acceleration and deceleration ramps are defined to perform the speed profile.
𝐹0 − 17 𝐴𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑇𝑖𝑚𝑒 =
𝐹0 − 10 𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑆𝑝𝑒𝑒𝑑
𝐴𝑐𝑐. 𝐷𝑒𝑙𝑡𝑎 𝑆𝑝𝑒𝑒𝑑
× 𝐴𝑐𝑐. 𝐷𝑒𝑙𝑡𝑎 𝑇𝑖𝑚𝑒
𝐹0 − 18 𝐷𝑒𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑇𝑖𝑚𝑒 =
𝐹0 − 10 𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑆𝑝𝑒𝑒𝑑
𝐷𝑒𝑐. 𝐷𝑒𝑙𝑡𝑎 𝑆𝑝𝑒𝑒𝑑
× 𝐷𝑒𝑐. 𝐷𝑒𝑙𝑡𝑎 𝑇𝑖𝑚𝑒
