LS ELECTRIC L7NHF Series, User Manual

Page: 81 / 409

4. CiA402 Drive Profile
4-13
4.4
Velocity Control Modes
4.4.1
Cyclic Synchronous Velocity Mode
Cyclic Synchronous Velocity (CSV) mode receives the target velocity (0x60FF) that is renewed at every
PDO update cycle from the upper level controller to control the velocity.
This mode allows the upper level controller to calculate the torque offset (0x60B2) that corresponds to
the torque feedforward and pass it to the drive.
The block diagram of the CSV mode is shown below.
Torque Offset (0x60B2)
Torque Actual Value (0x6077)
Quick Stop Option Code (0x605A)
Velocity Actual Value (0x606C)
Position Actual Value (0x6064)
Interpolate
Velocity
Command
Gear Ratio
Velocity
Control
Torque
Control
+
+
M
Velocity Demand
Value (0x606B)
Enc.
Velocity
Calculation
Position
Calculation
Gear Ratio
Inverse
Gear Ratio
Inverse
Position Actual Internal
Value (0x6063)
OP Mode : Cyclic Synchronous Velocity
6
7
8
C
Quick Stop Deceleration (0x6085)
Velocity Reached
Window
Comparator
Velocity Window
Time (0x606E)
Target Velocity
(0x60FF)
2
+ -
Target Reached in
Statusword (0x6041.10)
Velocity Reached
Velocity Window
(0x606D)
Velocity Offset (0x60B1)
Target Velocity (0x60FF)
+
+
2
1