Profile velocity mode

In profile velocity mode the drive accelerates until the demand velocity value has been reached and keeps this velocity.

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Objects configuration

The following objects need to be configured for the velocity profile:

* These objects are automatically detected and configured by Commutation Offset Detection.

Note

Target velocity is limited by Object:

The motion in Profile velocity mode is toggled by the halt bit (8) in the controlword (object 0x6040):

  • Value 0: Motion is executed, the drives accelerates (with the specified Profile acceleration) until either

    1. the velocity is reached or

    2. halt bit is set to 1

  • Value 1: Motion is stopped, the drive decelerates (with the specified Profile deceleration) until either

    1. velocity = 0 or

    2. halt bit is reset to 0

Attention

When the drive mode is set to Profile velocity mode and the halt bit is unset, the motor will start turning immediately.

Enable Profile velocity mode

To enable the mode, the value 3 (0003h) must be entered in object 0x6060. The Op mode display 0x6061 can be used to check if the op mode has been set correctly.

Operation Mode dependent Bits of Status- and Controlword

Controlword

The profile velocity mode uses some bits of the controlword for mode specific purposes which are indicated in yellow. The figure shows the structure of the controlword. For the general structure and usage, please refer to our Application note on Status- and Controlword.

15-9 8 7-4 3-0
N/A Halt N/A basic

Statusword

The mode specific bits of the statusword can be used to monitor the performance of the operation. For further information please refer to the section on Control Supervision.

Objects related to bits 10 and 12 of the statusword:

5-13 12 11 10 9-8 7-0
N/A Speed bit Internal limit active Target reached N/A basic

The bit will be 0 when the actual velocity exceeds the velocity threshold of the speedbit for a duration of Velocity threshold time (meaning the motor is rotating).

Note

If the velocity window is 0xFFFF, velocity window monitoring will be switched off and the target reached bit will always be 0.