Profile Velocity Mode - Delta ASDA-A3 Series User Manual

EtherCAT Mode

13.3.2 Profile Velocity mode

In Profile Velocity (PV) mode, the controller specifies the speed command and acceleration /
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deceleration conditions, and then the trajectory generator of the servo drive plans the motion
path according to these conditions.
Target velocity (60FFh)
Max profile velocity (607Fh)
Profile acceleration
(6083h)
Profile deceleration
(6084h)
Quick stop deceleration
(6085h)
Max acceleration (60C5h)
Max deceleration (60C6h)
Torque actual value (6077h)
Velocity window (606Dh)
Velocity window time (606Eh)
Statusword target reached
(6041h [Bit 10])
Velocity actual value (606Ch)
Position actual value (6064h)
Operation steps:
1. Set OD 6060h to 03h to set the mode as Profile Velocity mode.
2. Set OD 6083h for the profile acceleration.
3. Set OD 6084h for the profile deceleration.
4. Set the target velocity (OD 60FFh) to 0. In Profile Velocity mode, the servo motor starts
operating once the servo drive is switched to Servo On (Step 5). Therefore, setting the
target velocity (OD 60FFh) to 0 is to ensure that the motor maintains at 0 rpm at the
moment of Servo On.
5. Set the Controlword (OD 6040h). Follow these steps for operation. Steps 5.1 and 5.2 are to
bring the servo drive's state machine into the ready state. For more details of the state
machine, refer to the OD 6040h description in Section 13.4.
Step
5.1
5.2
5.3
6. Set OD 60FFh for the target velocity.
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Speed
command
and speed
limit function
Speed
trajectory
generator
Acceleration
limit function
Window
Timer
comparator
Bit 4 Bit 3 Bit 2 Bit 1
0 0 1
0 0 1
0 1 1
Positive
torque limit
(60E0h)
Negative
torque limit
(60E1h)
Velocity demand
value
Filter
(606Bh)
(2106h)
(2124h)
+
-
Position factor
6093h sub2
6093h sub1
Bit 0
1 0 Shutdown.
1 1 Switch on (ready for Servo On).
1 1 Enable operation (Servo On).
Max torque
(6072h)
Torque
Speed
+
+
control
control
loop
loop
Description
ASDA-A3
Servo
motor
M
Encoder