User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-32 C27750-001
7.13 Direct Velocity Mode (Manufacturer Specific)
A manufacturer specific mode for velocity has been implemented, and uses parameters similar to the profile velocity
mode, with the exception that the target velocity is not profiled or shaped, but rather a set-point value is used as the
demand. The Velocity Control Function is required for this mode, and is outlined in section Velocity Control
Function
Figure 7.12 Direct Velocity Mode implementation.
Index Name Type Comment
0x6080 ds402 max motor speed U32 Maximum allowable speed of motor, in rpm.
0x60FF ds402 target velocity S32 Input / Set point for velocity, in velocity units.
0x6510/32 ds402 max_load_speed U32 Maximum allowable speed of load in velocity
units
Table 7.11 Table of direct velocity mode parameters
CONTROL WORD
1. The control word implements the halt bit, as per profile velocity mode. Clearing the halt bit will
enable/gate the target velocity. Setting the halt bit will, in effect, set velocity demand to zero.
Figure 7.13 Direct Velocity Mode Control Word.
STATUS WORD
1. A target reached bit is implemented; indicating that the target velocity has been reached, within the velocity
window (See Section 7.19 Velocity Control Function). If the Halt bit is set, it will indicate if the drive has
stopped or not.
2. A “Speed=0” bit is implemented; indicating that the speed is at zero (less than the velocity threshold), see
Section 7.19 Velocity Control Function.
Target Velocity
Homing
Function
Velocity
Control Loop
Vel. Enc Factor
Limiter
Max Motor Speed
Velocity sensor
actual value.
Vel. Factor 1