7.4 6000-Device profile Object Area
7.4.1 6000h-9FFFh Standardised Device
Profile Area
The area 6000h to 9FFFh holds the indexes specified by
the ETG (ETherCAT user Group) for various device profiles.
The Danfoss EtherCAT does support three profiles, FC
Profile, MCO and the DS 402 profile, velocity mode. The
profile is selected via
8-10 Control Word Profile
, Control
Word Profile, or via Index 6060h Modes of operation. The
profile area has up to 13 indexes depending on the
selection made in
8-10 Control Word Profile
.
shows the support of indexes, depending on
setting of
8-10 Control Word Profile
(Index 6060h)
Index Name
8-10 Control Word Profile
=FC
Profile
8-10 Control Word
Profile
=MCO
8-10 Control Word Profile
=DS
402
6040h Control word
-
-
√
6041h Status word
-
-
√
6042h Vl_target_velocity
-
-
√
6043h Vl_velocity_demand
-
-
√
6044h Vl_velocity_effort
-
-
√
6046h Vl_velocity_min_max_amount
-
-
√
6048h Vl_velocity_acceleration
-
-
√
6049h Vl_velocity_deceleration
-
-
√
604Ch Vl dimension factor
-
-
√
6060h Modes of operation
√
√
√
6061h Modes of operation display
√
√
√
6502h Supported frequency converter mode
√
√
√
6504h Frequency converter manufacture
√
√
√
Table 7.17 6000h-9FFFh Standardised Device Profile Area
7.4.2 6040h Control Word
This object contains the control word in accordance with
DS 402. The control word consists of 16 bit, these 16 bit
are used for controlling the frequency converter (for
example, start, stop, reset), The control word is described
in
7.4.3 6041h Status Word
This object contains the Status word in accordance to DS
402. The status word consists of 16 bit. The 16 bits shows
the state and status of the frequency converter (for
example, running, ramping, on speed). The Status word is
described in
.
7.4.4 6042h vl_target_velocity
The vl_target_velocity is the required velocity of the
system. The velocity is in RPM, the value is scaled by the vl
dimension factor 604Ch.
7.4.5 6043h vl_velocity_demand
The vl_velocity_demand is the velocity of the system after
the ramp controller. The velocity is in RPM, the value is
scaled by the vl dimension factor 604Ch.
7.4.6 6044h vl_actual_value
The vl_actual_value is the velocity at the motor shaft. The
velocity is in RPM, and is obtained from
16-17 Speed [RPM]
.
7.4.7 6046h vl_velocity_min_max_amount
The vl_ velocity_min_max_amount is the minimum and
maximum RPM at the motor shaft. The two values are
obtained from
3-02 Minimum Reference
and
3-03 Maximum
Reference
. The readout values in
3-02 Minimum Reference
and
3-03 Maximum Reference
will be truncated.
7.4.8 6048h vl_velocity_acceleration
The vl_ velocity_acceleration index specifies the slope of
the acceleration ramp. It is generated as the quotient of
the delta_speed and delta_time. The Delta time is stored
in
3-41 Ramp 1 Ramp up Time
, and the Delta speed is store
locally in the options non volatile memory. After a power
down the delta speed will be generated from the
frequency converter
1-25 Motor Nominal Speed
. This can
give a different readout from the frequency converter, but
the slope value is maintained.
Communication Profile Area
MCA 124 EtherCAT Operating Instruction
MG92A302 - VLT
®
is a registered Danfoss trademark
29
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