13.5 Velocity Control Modes
13.5.1 Profile Velocity Mode
13-17
13
CiA402 Drive Pr
ofile
13.5
Velocity Control Modes
13.5.1
Profile Velocity Mode
In the Profile Velocity Mode, the speed is output according to the
profile acceleration
and
pro-
file deceleration
until it reaches the
target velocity
.
The following figure shows the block diagram for the Profile Velocity Mode.
Related Objects
Position
user unit
(2701 hex: 1, 2701 hex: 2)
Velocity
user unit
(2702 hex: 1, 2702 hex: 2)
Velocity reached
window
comparator
Velocity window
time (606E hex)
Output of velocity
limit function
Position actual value (6064 hex)
Velocity actual value (606C hex)
Position actual
internal value (6063 hex)
Target reached in statusword
(6041 hex)
+
-
Velocity
trajectory
generator
Velocity
limit function
Velocity
user unit
(2702 hex: 1, 2702 hex: 2)
Target velocity (60FF hex)
Max profile velocity (607F hex)
Acceleration
limit function
Acceleration
user unit
(2703 hex: 1, 2703 hex: 2)
Profile acceleration (6083 hex)
Quick stop deceleration (6085 hex)
Profile deceleration (6084 hex)
[Vel unit]
[Acc unit]
[inc/s]
104 [inc/s2]
Quick stop option code (605A hex)
Speed
control
Torque
control
Velocity
demand
value
(606D hex)
Motor
Encoder
Multiplier
Multiplier
Multiplier
Torque
user unit
(2704 hex: 2, 2704 hex: 1)
Index
Subindex
Name
Access
PDO
Mapping
Unit
Data
Type
60FF hex
0
Target velocity
RW
Yes
Vel unit
DINT
607F hex
0
Max profile velocity
RW
Yes
Vel unit
UDINT
6083 hex
0
Profile acceleration
RW
Yes
Acc unit
UDINT
6084 hex
0
Profile deceleration
RW
Yes
Acc unit
UDINT
6085 hex
0
Quick stop deceleration
RW
Yes
Acc unit
UDINT
606B hex
0
Velocity demand value
RO
Yes
Vel unit
DINT
606C hex
0
Velocity actual value
RO
Yes
Vel unit
DINT
606D hex
0
Velocity window
RW
No
Vel unit
UINT
606E hex
0
Velocity window time
RW
No
ms
UINT
