13.5 Velocity Control Modes
13.5.2 Cyclic Synchronous Velocity Mode
13-18
13.5.2
Cyclic Synchronous Velocity Mode
In the Cyclic Synchronous Velocity Mode, the master provides the target speed to the Servo
Drive, which performs speed control. In this mode, a torque compensation can be specified by
the master to enable torque feedforward.
The following figure shows the block diagram for the Cyclic Synchronous Velocity Mode.
Related Objects
*
The rated motor torque is 100%.
Velocity
limit
function
Acceleration
user unit
(2703 hex: 1, 2703 hex: 2)
Quick stop deceleration (6085 hex)
(or profile deceleration (6084 hex))
[Vel unit]
Quick stop option code (605A hex)
Speed
control
Torque
control
Velocity
demand
value
(606D hex)
Torque actual value (6077 hex)
Position actual
internal value (6063 hex)
Velocity offset (60B1 hex)
Torque offset (60B2 hex)
+
+
+
+
Velocity
user unit
(2702 hex: 1, 2702 hex: 2)
Target velocity (60FF hex)
[inc/s]
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)
Target velocity
Position actual value (6064 hex)
Velocity actual value (606C hex)
Velocity window (606D hex)
Target reached in statusword
(6041 hex)
+
-
Motor
Encoder
104 [inc/s2]
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
60B1 hex
0
Velocity offset
RW
Yes
Vel unit
DINT
60B2 hex
0
Torque offset
RW
Yes
0.1%
*
INT
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
