Technical Manual PD4-E-M (EtherCAT)
6 Operating modes
Objects in Profile Velocity Mode
Target velocity 60FFh
Quick stop deceleration 6085h
Profile acceleration 6083h
Motion profile type 6086h
Polarity 607Eh
Profile deceleration 6084h
Limit
function
Max deceleration 60C6h
Max acceleration 60C5h
Trajectory
generator
multiplier
Velocity demand
value 606Bh
Jerks 60A4h:1 to 60A4:4
Activation
After the mode is selected in object 6060
(Modes Of Operation) and the "Power State machine" (see
"CiA 402 Power State Machine") is switched to Operation enabled, the motor is accelerated to the
target speed in object 60FF
h
(see following figures). The speed and acceleration values are taken into
account here; for jerk-limited ramps, the jerk-limit values are also taken into account.
Limitations in the jerk-limited case
The following figure shows the adjustable limits in the jerk-limited case (6086
h
= 3).
Acce
le
ra
tio
n
Je
rk
Sp
ee
d
Profile velocity (60FF
h
)
t
t
t
Max. acceleration (60C5
h
)
Begin acceleration
jerk (60A4h:1)
End deceleration
jerk (60A4h:4)
Max. deceleration (60C6
h
)
Profile acceleration (6083
h
)
Profile deceleration (6084
h
)
Velocity window (606D
h
)
Velocity window (606D
h
)
Begin deceleration
jerk (60A4h:3)
End acceleration
jerk (60A4h:2)
Limitations in the trapezoidal case
This figure shows the adjustable limitations for the trapezoidal case (6086
h
= 0).
Version: 1.0.1 / FIR-v1748
59
