65
CANopen DSP402 Operation Modes
IMS-MN-LMDA42C_A.pdf
LMD CANopen
Profile Velocity Mode
The profile velocity mode covers the following sub-functions:
• Demand value input via trajectory generator.
• Velocity capture using position sensor or velocity sensor.
• Velocity control function with appropriate input and output signals.
• Monitoring of the profile velocity using a window-function.
• Monitoring of velocity actual value using a threshold.
Trajectory
Generator
Velocity
Controller
Target velocity (60FFh)
Motion profile type (6086h)
Polarity (607Eh)
Velocity (steps/sec)
Position actual value (6064h)
Velocity actual value (606Ch)
Limit
Function
Multiplier
Control
Effort
Multiplier
Limit
Function
Profile deceleration (6084h)
Quick stop deceleration (6085h)
Profile acceleration(6083h)
Limit
Function
d/dt
Velocity
sensor
selection
Polarity (607Eh)
