Send Quote Requests to info@automatedpt.com

EtherCAT Mode

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com

ASDA-A3

13.3.2 Profile Velocity mode

13

In Profile Velocity (PV) mode, the controller specifies the speed command and acceleration /

deceleration conditions, and then the trajectory generator of the servo drive plans the motion

path according to these conditions.

Target velocity (60FFh)

Speed

command

Max profile velocity (607Fh)

and speed

limit function

Profile acceleration

(6083h)

Profile deceleration

(6084h)

Quick stop deceleration

(6085h)

Acceleration

limit function

Max acceleration (60C5h)

Max deceleration (60C6h)

Speed

trajectory

generator

Positive

torque limit

(60E0h)

Negative

torque limit

(60E1h)

Max torque

(6072h)

Filter

(2106h)

(2124h)

Velocity demand

value

(606Bh)

Speed

control

+ +

Torque

control

loop

loop

Servo

motor

Torque actual value (6077h)

Velocity window (606Dh)

Velocity window time (606Eh)

Statusword target reached

(6041h [Bit 10])

Timer

Velocity actual value (606Ch)

Window

comparator

+

-

M

Encoder

Position actual value (6064h)

Position factor

6093h sub2

6093h sub1

Operation steps:

1. Set OD 6060h to 03h to set the mode as Profile Velocity mode.

2. Set OD 6083h for the profile acceleration.

3. Set OD 6084h for the profile deceleration.

4. Set the target velocity (OD 60FFh) to 0. In Profile Velocity mode, the servo motor starts

operating once the servo drive is switched to Servo On (Step 5). Therefore, setting the

target velocity (OD 60FFh) to 0 is to ensure that the motor maintains at 0 rpm at the

moment of Servo On.

5. Set the Controlword (OD 6040h). Follow these steps for operation. Steps 5.1 and 5.2 are to

bring the servo drive's state machine into the ready state. For more details of the state

machine, refer to the OD 6040h description in Section 13.4.

Step

5.1

5.2

5.3

Bit 4

0

0

0

Bit 3

0

0

1

Bit 2

1

1

1

Bit 1

1

1

1

Bit 0

0

1

1

Description

Shutdown.

Switch on (ready for Servo On).

Enable operation (Servo On).

6. Set OD 60FFh for the target velocity.

13-28

Send Quote Requests to info@automatedpt.com

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com