User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-35
7.14 Profile Velocity Mode
In this mode, a target velocity is input to a profile generator. It generates a velocity demand profile for the velocity
control loops, with further inputs to the profile generator rate limiting its output (e.g. max acceleration, etc…). The
parameters below are used in this mode along with the parameters of the velocity control function as outlined in
Section 7.19 Velocity Control Function.
Figure 7.15 Profile Velocity Mode implementation.
Index Name Type Comment
0x607F ds402 max profile velocity U32 Maximum speed allowed during a profile move, in
velocity units.
0x6080 ds402 max motor speed U32 Maximum allowable speed of motor, in rpm.
0x6510/32 ds402 max_load_speed U32 Maximum allowable speed of load in velocity units
0x6083 ds402 profile acceleration U32 Used to define acceleration of moves, in acceleration
units.
0x6086 ds402 motion profile type S16 Used to select the type of motion profile to perform.
Only linear ramp (trapezoidal profile) is implemented.
0x60C5 ds402 max acceleration U32 The max acceleration can be used to limit the profile
acceleration. It is defined in acceleration units.
0x60FF ds402 target velocity S32 Input / Set point for velocity, in velocity units.
Table 7.13 Table of profile velocity mode parameters
CONTROL WORD
1. The control word implements the halt bit. Clearing the halt bit will enable/gate the target velocity.
Setting the halt bit will, in effect, set velocity demand to zero. The drive will accelerate/decelerate at the
profile acceleration. The location of the halt bit is the same as that shown previously for direct velocity
mode.
STATUS WORD
Homing
Function
Velocity
Control Loop
Vel. Enc. Factor
+ Polarity
Max Profile Velocity
Target Velocity
Tgen
Max Motor Speed
Min
Vel Factor 1
[Incs/s]
Limiter
Max acceleration
Profile Acceleration
Accel. Factor
[Incs/s
2
]
Limiter
Velocity sensor
actual value.
Motion Profile Type