Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 EtherCAT Mode
12-65
12
Object 606Ch: Velocity actual value
Index 606Ch
Name Velocity actual value
Object code VAR
Data type INTEGER32
Access RO
PDO mapping Yes
Setting range INTEGER32
Unit 0.1 rpm
Object function:
Returns the current motor speed for the users to monitor.
Object 606Dh: Velocity window
Index 606Dh
Name Velocity window
Object code VAR
Data type UNSIGNED16
Access RW
PDO mapping Yes
Setting range 0 - 3000
Default 100
Unit 0.1 rpm
Object function:
The speed comparator compares the speed error with OD 606Dh (velocity window).
When the error is within the range of the velocity window and the retaining time is greater
than OD 606Eh (Velocity window time), then OD 6041h Bit 10 (Target reached) is output.
This object only works in Profile Velocity Mode.
Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled.
Velocity window time (606Eh)
Window
time
comparator
Target reached (6041h Bit 10)
+
-
Velocity window (606Dh)
Velocity
window
comparator
Velocity demand value
(606Bh)
Velocity actual value (606Ch)