Profile Velocity

This mode operates the motor in Velocity Mode with expanded ramps. Unlike velocity mode (see "Velocity"), the actual speed can be monitored via an external encoder in this mode.

To activate the mode, the value "3" must be set in object 6060_h (Modes Of Operation) (see "DS402 Power State machine").

The following bits in object 6040_h (control word) have a special function:

• Bit 2 is used to trigger an quick stop. If it is set to "0", the motor carries out a quick stop with the ramp set in object 6085_h. Then the motor controller changes to the "Switch on disabled" state (6040_h).
• Bit 8 (Stop): On a transition of "0" to "1", the motor accelerates up to the target speed with the set starting ramp. On a transition of "1" to "0", the motor brakes and comes to a stop.

The following bits in object 6041_h(status word) have a special function:

• Bit 10 (target speed reached); Target Reached: This bit in combination with bit 8 in the control word indicates whether or not the target speed has been reached, the motor is braking, or the motor is idling (see table).

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  6041h Bit 10	6040h Bit 8	Description
  0	0	Target speed not attained
  0	1	Axis is braking
  1	0	The target speed within the target window (defined in 606Dh and 606Eh)
  1	1	Speed of axis is 0

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The following objects are required to control this mode:

• 606B_h(Velocity Demand Value):

  This object contains the output of the ramp generator which is the specified value for the speed controller at the same time.

• 606C_h(Velocity Actual Value):

  Specifies the current actual speed.

• 606D_h(Velocity Window):

  This value specifies by how much the actual speed may vary from the set speed for bit 10 (target speed reached; Target Reached) in object 6041_h(status word) is to be set to "1".

• 606E_h(Velocity Window Time):

  This object indicates how long the actual speed and the set speed must be near each other in magnitude (see 606D_h"Velocity Window") for bit 10 "Target Reached" in object 6041_h(status word) to be set to "1".

• 607E_h(Polarity):

  If bit 6 is set to "1", the sign (plus/minus) of the target speed is reversed.

• 6083_h(Profile acceleration):

  Sets the value for the acceleration ramp in velocity mode.

• 6084_h(Profile Deceleration):

  Sets the value for the braking ramp in velocity mode.

• 6085_h(Quick Stop Deceleration):

  Sets the value for the braking ramp for the quick stop in velocity mode.

• 6086_h(Motion Profile Type):

  Here the ramp type can be selected (0 = trapezoid ramp, 3 = jerk-limited ramp).

• 604A_h(Velocity Quick Stop), sub-index 01_h to 02_h :

  The four jerk values are specified here if a jerk-limited ramp is set.

• 60FF_h(Target Velocity):

  Specifies the target speed to be attained.

• 2031_h(Peak Current):

  Maximum current in mA