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4.6.3.2 PV mode
PV (Profile speed control mode) is a speed control mode that specifies the target speed, acceleration and
deceleration, and generates position command action in the servo driver.
1.
Related object
PV control mode related object (command
・
setting type)
Register
Explanation
Unit
RXPDO[0x6040]
Control word
-
RXPDO[0x6060]
Set to 3
-
RXPDO[0x60FF]
Speed setting
Command unit/s
RXPDO[0x6072]
Max torque
0.1%
RXPDO[0x607F]
Max internal speed
Command unit /s
RXPDO[0x6080]
Max motor speed
r/min
RXPDO[0x6083]
Internal acceleration speed
Command unit /s²
RXPDO[0x6084]
Internal deceleration speed
Command unit /s²
RXPDO[0x60C5]
Max acceleration speed
Command unit /s²
RXPDO[0x60C6]
Max deceleration speed
Command unit /s²
PV control mode related object (command
・
monitor type)
Register
Explanation
Unit
TXPDO[0x6041]
State word
-
TXPDO[0x6061]
Mode query
-
TXPDO[0x6063]
Internal actual position
Command unit
TXPDO[0x6064]
Position feedback (motor actual
position)
Command unit
TXPDO[0x606C]
Speed feedback
Command unit /s
TXPDO[0x6077]
Actual torque
0.1%
2.
Control word (6040h) <PV control mode function >
Index
Sub-
Index
Name/Description
Range
Date
Type
Access
PDO
Op-
mode
6040h
00h
Controlword
0~65535
U16
rw
RxPDO
All
Set the control command of servo driver such as PDS state transition.
Bit information
15
14
13
12
11
10
9
8
r
h
7
6
5
4
3
2
1
0
fr
oms
eo
qs
ev
so
r
r
r
r = reserved (No correspondence) fr = fault reset
oms = operation mode specific eo = enable operation
(control mode based on bit) qs = quick stop
h = halt ev = enable voltage
so = switch on
PV mode doesn’t use oms bit.
3.
Control word (6041h) <PV control mode function>