Technical Manual PD4-E-M (EtherCAT)
6 Operating modes
6.2 Velocity
6.2.1 Description
This mode operates the motor at a preset target speed, similar to a frequency inverter. Unlike the
Profile Velocity Mode, this mode does not permit the selection of jerk-limited ramps.
Note
The limit switches and, thus, the tolerance bands are active in this mode. For further information on
the limit switches, see Limitation of the range of motion.
6.2.2 Activation
To activate the mode, the value "2" must be set in object 6060
h
(Modes Of Operation) (see "CiA 402
6.2.3 Controlword
The following bits in object 6040
(controlword) have a special function:
•
Bit 8 (Halt): If this bit is set to "1", the motor stops. On a transition from "1" to "0", the motor
accelerates with the acceleration ramp to the target speed. On a transition from "0" to "1", the motor
brakes according to the deceleration ramp and comes to a standstill.
6.2.4 Statusword
The following bits in object 6041
(statusword) have a special function:
•
Bit 11: Limit exceeded: The target speed is above or below the set limit values.
6.2.5 Object entries
The following objects are necessary for controlling this mode:
•
(Dimension Factor):
The unit for speed values is defined here for the following objects.
Subindex 1 contains the denominator (multiplier) and subindex 2 contains the numerator (divisor)
with which the internal speed values are converted to revolutions per minute. If, for example,
subindex 1 is set to the value "60" and subindex 2 is set to the value "1", the speed is specified in
revolutions per second (60 revolutions per 1 minute).
•
h
: Target Velocity.
The target speed is set here in user-defined units.
•
h
: Velocity Acceleration
This object defines the acceleration. Subindex 1 contains the change in speed, subindex 2 the
corresponding time in seconds. Both together are used to calculate the acceleration:
Delta time (6048
h
:2)
Delta speed (6048
h
:1)
VL velocity acceleration =
•
h
(Velocity Deceleration):
This object defines the deceleration (deceleration ramp). The subindices here are arranged as
described in object 6048
h
; the change in speed is to be specified with positive sign.
•
h
(Velocity Min Max Amount):
The limitations of the target speeds are specified in this object.
The minimum speed is set in 6046
h
:1
h
. If the target speed (6042
h
) falls below the minimum speed,
the value is limited to the minimum speed 6046
h
:1
h
.
The maximum speed is set in 6046
h
:2
h
. If the target speed (6042
h
) exceeds the maximum speed,
the value is limited to the maximum speed 6046
:2
h
.
Version: 1.0.1 / FIR-v1748
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