14.5 Velocity Control Modes
14.5.2 Cyclic Synchronous Velocity Mode
14-18
14.5.2
Cyclic Synchronous Velocity Mode
In the Cyclic Synchronous Velocity Mode, the master provides the target speed to the Servo
Drive, which performs speed control. In this mode, a torque compensation can be specified by
the master to enable torque feedforward.
The following figure shows the block diagram for the Cyclic Synchronous Velocity Mode.
Related Objects
*
The rated motor torque is 100%.
Velocity
limit
function
Acceleration
user unit
(2703h: 1, 2703h: 2)
Quick stop deceleration (6085h)
(or profile deceleration (6084h))
[Vel unit]
Quick stop option code (605Ah)
Speed
control
Torque
control
Velocity
demand
value
(606Dh)
Torque actual value (6077h)
Position actual
internal value (6063h)
Velocity offset (60B1h)
Torque offset (60B2h)
+
+
+
+
Velocity
user unit
(2702h: 1, 2702h: 2)
Target velocity (60FFh)
[inc/s]
Position
user unit
(2701h: 1, 2701h: 2)
Velocity
user unit
(2702h: 1, 2702h: 2)
Velocity reached
window
comparator
Velocity window
time (606Eh)
Target velocity
Position actual value (6064h)
Velocity actual value (606Ch)
Velocity window (606Dh)
Target reached in statusword
(6041h)
+
-
Motor
Encoder
104 [inc/s2]
Multiplier
Multiplier
Multiplier
Torque
user unit
(2704h: 2, 2704h: 1)
Index
Subindex
Name
Access
PDO
Mapping
Unit
Data
Type
60FFh
0
Target velocity
RW
Yes
Vel unit
DINT
60B1h
0
Velocity offset
RW
Yes
Vel unit
DINT
60B2h
0
Torque offset
RW
Yes
0.1%
*
INT
6084h
0
Profile deceleration
RW
Yes
Acc unit
UDINT
6085h
0
Quick stop deceleration
RW
Yes
Acc unit
UDINT
606Bh
0
Velocity demand value
RO
Yes
Vel unit
DINT
606Ch
0
Velocity actual value
RO
Yes
Vel unit
DINT
606Dh
0
Velocity window
RW
No
Vel unit
UINT
606Eh
0
Velocity window time
RW
No
ms
UINT
