User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-33
Figure 7.14 Direct Velocity Mode Status Word.
GENERAL ISSUES
1. The ds402 Max Load Speed is derived from velocity_maximum, and so setting either value will setup the
other automatically.
2. Setting ds402 Max Load Speed, or velocity_maximum should be done initially at configuration, and not
changed during moves, as it changes the internal scaling of the drive.
3. In the case of the drive being halted; to determine if axle has velocity 0, it is compared against a standby
velocity in rads./sec. If the value is less than this value then it is considered stopped.
4. The acceleration limit is set by the acceleration limit of the drive.
SAMPLE SETUP
The following section gives an example of a typical setup for a direct velocity move.
Index/Sub Index Name Value Comment
0x6040 ds402 control word 0x06 Shutdown command
0x6060 ds402 mode of operation -2 Set mode to Direct Velocity Mode
0x6510/32 ds402 max load speed 6000 Set Max load speed = 6000 rpm
0x606D ds402 velocity window 40 Set velocity window = 40 rpm
0x606F ds402 velocity threshold 20 Set velocity threshold = 20 rpm
0x60FF ds402 target velocity 1000 Set target velocity = 1000 rpm
0x6040 ds402 control word 0x0F Enable Drive command
0x606C ds402 velocity actual Read as 1000 during move
0x6041 ds402 status word Read as 0x637 during move
0x6040 ds402 control word 0x10F Halt command
0x6041 ds402 status word Read as 0x1637 when halted.
Table 7.12 Sample set-up for direct velocity mode