Delta ASDA-A3 Series, Руководство пользователя

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CANopen Mode ASDA-A3
12-26
12
12.3.4 Profile Velocity Mode
In PV (Profile Velocity) mode, the controller specifies the speed command and acceleration /
deceleration conditions, and the motion command generator of the servo drive plans the motion
path according to these conditions.
Target velocity (60FFh)
Max. profile velocity
(607Fh)
Speed
command
and limit
function
Trajectory
generator
Filter
P1.006
P1.036
Speed
control
loop
Torque
control
loop
Max. torque
(6072h)
Positive
torque limit
(60E0h)
Negative
torque limit
(60E1h)
Encoder
Servo
motor
M
Profile acceleration (6083h)
Profile deceleration (6084h)
Acceleration
limit function
Quick stop deceleration
(6085h)
Max. acceleration (60C5h)
Max. deceleration (60C6h)
[RPM]
[ms]2
Torque actual value (6077h)
Velocity actual value (606Ch)
E-Gear ratio
6093h sub2
6093h sub1
Position actual value (6064h)
Velocity window time (606Eh)
Position
window
comparator
Statusword Bit10
Target reached (6041h)
Velocity demand value
(606Bh)
+
-
Velocity window (606Dh)
Speed
comparator
Operation steps:
1.
Set OD 6060h to 03h to set the mode as the speed control mode.
2.
Set OD 6083h for the acceleration time slope.
3.
Set OD 6084h for the deceleration time slope.
4.
Set the target speed (OD 60FFh) to 0. In speed mode, the servo motor starts operating
once it is switched to servo on (step 5). Therefore, setting the target speed (OD 60FFh)
to 0 is to ensure that the motor maintains at 0 rpm at the time of servo on.
5.
Set OD 6040h for the control command. Follow the steps below. Steps 6.1 and 6.2 are to
bring the servo drive's state machine into the ready state. For more details of the state
machine, refer to Section 12.2.2.6.
Step Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
6.1 0 0 1 1 0 Shutdown
6.2 0 0 1 1 1 Switch on (ready for servo on).
6.3 0 1 1 1 1 Enable operation (servo on).
6.
Set OD 60FFh for the target speed.