ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 100)

CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
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13: Profiled Velocity
6069h: Velocity sensor actual value
6060h: Velocity window
606Ah: Sensor selection code
606Bh: Velocity demand value
606Ch: Velocity actual value
606Dh: Velocity window
606Eh: Velocity window time
606Fh: Velocity threshold
6070h: Velocity threshold time
60FFh: Target velocity
13.1 General Information
Profile Velocity mode includes the following sub-functions:
Demand value input via trajectory generator
Velocity capture using the position sensor or velocity sensor
Velocity control function with the appropriate input and output signals
Monitoring of the profile velocity using a window function
Monitoring of the velocity actual value using a threshold
The input parameters of the reference value generator are:
Profile velocity
Profile acceleration
Profile deceleration
Emergency stop
Motion profile type
These parameters and the operation of the reference value generator are described in
section 11: .
The velocity controller calculates a torque variable. When a different target position
arrives, it is executed immediately.
Notes:
A target velocity can be executed only in OPERATION ENABLED state.
Otherwise, the process aborts with an emergency message.
The velocity, acceleration and deceleration are submitted to the limits according
to the relevant limit range.