No. SX-DSV02472 -
38-
4-3 Velocity Control
Carried out the speed control based on the speed command object EtherCAT communication which is input from the
host controller.
This describe the basic configuration when using the speed control.
As the speed control mode, there is a Profile velocity control(pv) and Cyclic synchronous velocity control(csv).
For details, refer to Technical Reference, SX-DSV02473”Section 6-7”, EtherCAT communication specification.
4-3-1 Attained speed output (AT-SPEED)
The AT-SPEED signal is output as the motor reaches the speed set to Pr 4.36 “Attained speed”.
■ Parameters
Class
No.
At-
trib-
ute *1)
Title
Range
Unit
Function
4
36
A
At-speed
(Speed arrival)
10–20000
r/min
Set the detection timing of the speed arrival output (AT-SPEED).
When the motor speed exceeds this setup value, the speed arrival
output (AT-SPEED) is output.
Detection is associated with 10 r/min hysteresis.
*1) For parameter attribute, refer to Section 9-1.
Pr 4.36 + 10
Pr 4.36 - 10
-(Pr 4.36 + 10)
-(Pr 4.36 - 10)
The speed
arrival output
AT-SPEED
OFF
ON
ON
OFF
Time
Motor velocity
Speed [r/min]
Host
controller
Servo driver
Speed command
acceleration/deceler-
ation processing
section
Velocity
control
section
Speed command
(EtherCAT
communication)
Speed
command
generation &
processing
section
EtherCAT
communica-
tion processing
section
V-COIN/V_CMP
output function
V-COIN
(External
output signal)
ZSP/ZSPD
output function
ZSP
(External
output signal)
CoE(CiA402) Processing unit
Motor control
Processing
unit
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation
