14.5 Velocity Control Modes
14.5.1 Profile Velocity Mode
14-17
14
CiA402 Drive Pr
ofile
14.5
Velocity Control Modes
14.5.1
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
(2701h: 1, 2701h: 2)
Velocity
user unit
(2702h: 1, 2702h: 2)
Velocity reached
window
comparator
Velocity window
time (606Eh)
Output of velocity
limit function
Position actual value (6064h)
Velocity actual value (606Ch)
Position actual
internal value (6063h)
Target reached in statusword
(6041h)
+
-
Velocity
trajectory
generator
Velocity
limit function
Velocity
user unit
(2702h: 1, 2702h: 2)
Target velocity (60FFh)
Max profile velocity (607Fh)
Acceleration
limit function
Acceleration
user unit
(2703h: 1, 2703h: 2)
Profile acceleration (6083h)
Quick stop deceleration (6085h)
Profile deceleration (6084h)
[Vel unit]
[Acc unit]
[inc/s]
104 [inc/s2]
Quick stop option code (605Ah)
Speed
control
Torque
control
Velocity
demand
value
(606Dh)
Motor
Encoder
Multiplier
Multiplier
Multiplier
Torque
user unit
(2704h: 2, 2704h: 1)
Index
Subindex
Name
Access
PDO
Mapping
Unit
Data
Type
60FFh
0
Target velocity
RW
Yes
Vel unit
DINT
607Fh
0
Max profile velocity
RW
Yes
Vel unit
UDINT
6083h
0
Profile acceleration
RW
Yes
Acc unit
UDINT
6084h
0
Profile deceleration
RW
Yes
Acc unit
UDINT
6085h
0
Quick stop deceleration
RW
Yes
Acc unit
UDINT
606Bh
0
Velocity demand value
RO
Yes
Vel unit
DINT
606Ch
0
Velocity actual value
RO
Yes
Vel unit
DINT
606Dh
0
Velocity window
RW
No
Vel unit
UINT
606Eh
0
Velocity window time
RW
No
ms
UINT
