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ASDA-A3
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CANopen Mode
12.3.4 Profile Velocity mode
In Profile Velocity (PV) mode, the controller specifies the speed command and acceleration /
12 deceleration settings, and then the trajectory generator of the servo drive plans the motion path
according to these conditions.
Target velocity (60FFh)
Max profile velocity (607Fh)
Speed
command and
speed limit
function
Max torque
(6072h)
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop deceleration (6085h) Acceleration
limit function
Max acceleration (60C5h)
Max deceleration (60C6h)
Speed
trajectory
generator
Filter
(2106h)
(2124h)
Velocity demand value
(606Bh)
Speed
control
loop
Torque
control loop
Servo
motor
Torque actual value (6077h)
Velocity window (606Dh)
Velocity window time (606Eh)
Target reached (6041h [Bit 10])
Velocity actual value (606Ch)
Window
comparator
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 12.4.3.3.
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.
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Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com
12-27