Velocity Control Modes; Profile Velocity Mode - YASKAWA SGD7S-1R9D Product Manual

13.5

Velocity Control Modes

13.5.1

Profile Velocity Mode

In the Profile Velocity Mode, the speed is output according to the profile acceleration and pro-
file deceleration until it reaches the target velocity.
The following figure shows the block diagram for the Profile Velocity Mode.
Target velocity (60FF hex)
Max profile velocity (607F hex)
Profile acceleration (6083 hex)
Profile deceleration (6084 hex)
Quick stop deceleration (6085 hex)
Quick stop option code (605A hex)
Velocity actual value (606C hex)
Target reached in statusword
(6041 hex)
Velocity window
time (606E hex)
Position actual value (6064 hex)
Related Objects
Index
60FF hex
607F hex
6083 hex
6084 hex
6085 hex
606B hex
606C hex
606D hex
606E hex
Multiplier
Velocity
[Vel unit]
Velocity
user unit
limit function
(2702 hex: 1, 2702 hex: 2)
Multiplier
Acceleration
[Acc unit]
Acceleration
user unit
limit function
(2703 hex: 1, 2703 hex: 2)
Output of velocity
limit function
+
Velocity reached
-
window
comparator
Subindex Name
0 Target velocity
0 Max profile velocity
0 Profile acceleration
0 Profile deceleration
0 Quick stop deceleration
0 Velocity demand value
0 Velocity actual value
0 Velocity window
0 Velocity window time
[inc/s]
Velocity
demand
value
(606D hex)
Velocity
10 4 [inc/s 2 ]
trajectory
generator
Torque
user unit
(2704 hex: 2, 2704 hex: 1)
Velocity
user unit
(2702 hex: 1, 2702 hex: 2)
Multiplier
Position actual
Position internal value (6063 hex)
user unit
(2701 hex: 1, 2701 hex: 2)
Access
RW
RW
RW
RW
RW
RO
RO
RW
RW
13.5 Velocity Control Modes

13.5.1 Profile Velocity Mode

Speed Torque
Motor
control control
Encoder
PDO Data
Unit
Mapping Type
Yes Vel unit DINT
Yes Vel unit UDINT
Yes Acc unit UDINT
Yes Acc unit UDINT
Yes Acc unit UDINT
Yes Vel unit DINT
Yes Vel unit DINT
No Vel unit UINT
No ms UINT
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