15.12 Profile Velocity/Cyclic Synchronous Velocity Mode
15-42
15.12
Profile Velocity/Cyclic Synchronous Velocity Mode
Velocity Demand Value (606Bh)
This object contains the output value from the velocity trajectory generator or the output value
from the position control function (i.e., the input reference for the speed loop).
Velocity Actual Value (606Ch)
This object contains the motor speed.
Velocity Window (606Dh)
This object sets the speed coincidence detection width.
When the time specified in
velocity window time
(606Eh) has passed after the difference
between the target speed (
target velocity
) and the
velocity actual value
is within the setting of
the
velocity window
, bit 10 (
target reached
) in
statusword
is set to 1.
Velocity Window Time (606Eh)
When the time specified in
velocity window time
(606Eh) has passed after the difference
between the target speed (
target velocity
) and the
velocity actual value
is within the setting of
the
velocity window
, bit 10 (
target reached
) in
statusword
is set to 1.
Target Velocity (60FFh)
This object specifies the target speed for Profile Velocity Mode or Cyclic Synchronous Velocity
Mode in user defined speed reference units.
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
606Bh
0
Velocity demand
value
DINT
RO
Yes
−
[Vel. unit]
No
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
606Ch
0
Velocity actual value
DINT
RO
Yes
−
[Vel. unit]
No
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
606Dh
0
Velocity window
UINT
RW
No
0 to 65,535
(default: 20,000)
[Vel. unit]
Yes
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
606Eh
0
Velocity window
time
UINT
RW
No
0 to 65,535
(default: 0) [ms]
Yes
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
60FFh
0
Target velocity
DINT
RW
Yes
–2,147,483,648 to
2,147,483,647
(default: 0) [Vel. unit]
No
