LS ELECTRIC L7NHF Series, User Manual

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4. CiA402 Drive Profile
4-16
4.4.2
Profile Velocity Mode
Unlike CSV mode, which receives the target velocity that is renewed at every PDO update cycle from
the upper level controller, in Profile Velocity (PV) mode, the drive generates a velocity profile internally
up to the target velocity (0x60FF) using the profile acceleration (0x6083) and deceleration (0x6084) in
order to control its velocity.
At this time, the max. profile velocity (0x607F) limits the maximum velocity.
The block diagram of the PV mode is shown below.
Torque Offset (0x60B2)
Torque Actual Value (0x6077)
Quick Stop Option Code (0x605A)
Velocity Actual Value (0x606C)
Position Actual Value (0x6064)
Generate
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 : Profile Velocity
6
7
8
C
1
Target Velocity (0x60FF)
Maximum Profile Velocity (0x607F)
Profile Acceleration (0x6083)
Profile Deceleration (0x6084)
3
4
Quick Stop Deceleration (0x6085)
Velocity Reached
Window
Comparator
Velocity Window
Time (0x606E)
Target Velocity
(0x60FF)
1
+ -
Target Reached in
Statusword (0x6041.10)
Velocity Reached
Velocity Window
(0x606D)
2