114
Digitax HD M753 Control User Guide
Issue Number: 3
9.20
vl velocity mode
When the drive is in either of the RFC-A or RFC-S operating modes the
scaled velocity is written to the drive internal speed shortcut. When the
drive is in an open-loop operating mode the scaled velocity is written to
the user preset reference parameter (Pr
01.021
). Table 9-78 lists the
objects that are supported:
Table 9-78 vl velocity mode supported objects
9.20.1
Activate velocity mode redirection
This object provides the facility to redirect the velocity mode reference
from the normal velocity mode object (0x6042) to the cyclic sync velocity
mode object (0x60FF).
Table 9-79 Activate velocity mode redirection
9.20.2
0x6042 vl_target_velocity
This object is used to set the required velocity of the system. It is
multiplied by the
vl_dimension_factor
and the
vl_setpoint_factor
.
The value is given in rpm, If the
vl_dimension_factor
has the value of 1,
otherwise the value is in user units. Positive values indicate forward
direction and negative values indicate reverse direction.
Table 9-80 vl_target_velocity
9.20.3
0x6043 vl_velocity_demand
This read only object provides the instantaneous velocity demand
generated by the drive ramp function. The value is given in rpm if the
vl_dimension_factor
and the
vl_setpoint_factor
have the value 1,
otherwise the value is in user units. Positive values indicate forward
direction and negative values indicate reverse direction.
Table 9-81 vl_velocity_demand
9.20.4
0x6044 vl_velocity_actual_value
This read only object provides the velocity at the motor spindle or load.
In a closed loop system this is determined from the motor feedback
device and in an open loop system it is derived from the drive’s
estimated velocity.
The value is given in rpm if the
vl_dimension_factor
has the value of 1,
otherwise the value is in user units. Positive values indicate forward
direction and negative values indicate reverse direction.
Table 9-82 velocity_actual_value
9.20.5
0x6046 vl_velocity_min_max_amount
This object is used to configure the minimum and maximum velocity.
The value is given in rpm if the
vl_dimension_factor
has the value of 1,
otherwise the value is in user units.
Table 9-83 vl_velocity_min_max_amount
Index
Name
0x3008
Active velocity mode redirection
0x6042
vl_target_velocity
0x6043
vl_velocity_demand
0x6044
vl_velocity_actual_value
0x6046
vl_velocity_min_max_amount
0x6048
vl_velocity_accleration
0x6049
vl_velocity_deceleration
0x604A
vl_velocity_quick_stop
0x604B
vl_setpoint_factor
0x604C
vl_dimension_factor
0x3008
Activate velocity mode redirection
Sub-index 0
Access: RW
Range: 0 to 1
Size: 1 byte
Unit: N/A
Default: 0
Type:
USINT
Description:
Redirects the velocity mode reference from object 0x6042 to
object 0x60FF.
Normally object 0x60FF is the reference for csv mode and object
0x6042 is the reference for velocity mode. Activating this object
means that object 0x60FF will be used as the reference for
velocity mode.
Units are RPM in the range -32768 to 32767.
This object value change will take effect on a CiA402 transition
from "Ready to switch on" to "Switched on".
0x6042
vl_target_velocity
Sub-index 0
Access: RW
Range: -32768
to +32767
Size: 2 bytes
Unit: rpm
Default: 0
Type:
INT
Description:
Used to set the required velocity of the system.
0x6043
vl_velocity_demand
Sub-index 0
Access: RO
Range: -32768
to +32767
Size: 2 bytes
Unit: rpm
Default: 0
Type:
INT
Description:
Provides the instantaneous velocity demand generated by the
drive ramp function.
0x6044
vl_velocity_actual_value
Sub-index 0
Access: RO
Range: -32768
to +32767
Size: 2 bytes
Unit: N/A
Default: 0
Type:
INT
Description:
Provides the velocity at the motor spindle or load.
0x6046
vl_velocity_min_max_amount
Sub-index 0
Access: RO
Range: N/A
Size: 1 byte
Unit: N/A
Default: 2
Type:
USINT
Description:
The number of sub-indices in this object.
Sub-index 1
Access: RW
Range: 0 to
40000
Size: 4 bytes
Unit: rpm
Default: 0
Type:
UDINT
Description:
Used to configure the minimum velocity (both in the forward and
reverse direction) that the system can operate at. Writing to this
sub index will overwrite
vl_velocity_min
positive and
vl_velocity_min
negative.
Sub-index 2
Access: RW
Range: 0 to
40000
Size: 4 bytes
Unit: rpm
Default: 40000
Type:
UDINT
Description:
Used to configure the maximum velocity (both in the forward and
reverse direction) that the system can operate at. Writing to this
sub index will overwrite
vl_velocity_max
positive and
vl_velocity_max
negative.
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