Technical Manual PD4-E-M (EtherCAT)
6 Operating modes
•
(Velocity Quick Stop):
This object can be used to set the quick-stop ramp. Subindices 1 and 2 are identical to those
described for object 6048
h
.
•
h
(Max Motor Speed): Maximum speed
The following objects can be used to check the function:
•
h
(Vl Velocity Demand)
•
h
(Vl Velocity Actual Value)
Speeds in Velocity Mode
Delta time
6048
h
:2
Delta time
6049
h
:2
Delta speed
6048
h
:1
Delta speed
6049
h
:1
VL target velocity 6042
h
VL velocity max
amount 6046
h
:2
VL velocity min
amount 6046
h
:1
Sp
ee
d
t
Objects for Velocity Mode
The ramp generator follows the target speed, remaining within the set speed and acceleration limits. As
long as a limit is active, bit 11 in object 6041
h
is set (internal limit active).
Factor
function
VL target velocity 6042
h
VL dimension factor 604C
h
VL velocity min max amount 6046
h
VL velocity acceleration 6048
h
VL velocity deceleration 6049
h
VL quick-stop 604A
h
Control word 6040
h
Bit 8 (halt)
Ramp
function
Velocity
limit
function
Velocity
control
function
Reverse
factor
function
VL velocity
actual value
6044
h
VL velocity
demand 6043
h
Status word 6041
h
Bit 11
(internal limit active)
Reverse
factor
function
6.3 Profile Velocity
6.3.1 Description
This mode operates the motor in Velocity Mode with extended (jerk-limited) ramps. Unlike Velocity
Mode (see "Velocity"), the statusword is used in this mode to indicate whether the target speed is
reached.
Note
The limit switches and, thus, the tolerance bands are active in this mode. For further information on
the limit switches, see Limitation of the range of motion.
6.3.2 Activation
To activate the mode, the value "3" must be set in object 6060
h
(Modes Of Operation) (see "CiA 402
Version: 1.0.1 / FIR-v1748
57
