Cyclic Synchronous Velocity Mode - YASKAWA SGD7S-1R9D Product Manual

13.5 Velocity Control Modes

13.5.2 Cyclic Synchronous Velocity Mode

13.5.2 Cyclic Synchronous Velocity Mode
In the Cyclic Synchronous Velocity Mode, the master provides the target speed to the Servo
Drive, which performs speed control. In this mode, a torque compensation can be specified by
the master to enable torque feedforward.
The following figure shows the block diagram for the Cyclic Synchronous Velocity Mode.
Torque offset (60B2 hex)
Velocity offset (60B1 hex)
Target velocity (60FF hex)
Quick stop deceleration (6085 hex)
(or profile deceleration (6084 hex))
Quick stop option code (605A hex)
Torque actual value (6077 hex)
Velocity actual value (606C hex)
Velocity window (606D hex)
Target reached in statusword
(6041 hex)
Position actual value (6064 hex)
Related Objects
Index
60FF hex
60B1 hex
60B2 hex
6084 hex
6085 hex
606B hex
606C hex
606D hex
606E hex
*
The rated motor torque is 100%.
13-18
Multiplier
+
Velocity
[Vel unit]
+
user unit
(2702 hex: 1, 2702 hex: 2)
Multiplier
Acceleration
user unit
(2703 hex: 1, 2703 hex: 2)
Target velocity
Velocity reached
Velocity window
window
time (606E hex)
comparator
Subindex
0 Target velocity
0 Velocity offset
0 Torque offset
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
limit
10 4 [inc/s 2 ]
function
Torque
user unit
(2704 hex: 2, 2704 hex: 1)
Velocity
user unit
(2702 hex: 1, 2702 hex: 2)
Position actual
internal value (6063 hex)
+
-
Multiplier
Position
user unit
(2701 hex: 1, 2701 hex: 2)
Name
Velocity
demand
value
(606D hex) +
+
Speed Torque
control control
PDO
Access Unit
Mapping
RW Yes Vel unit
RW Yes Vel unit
0.1% *
RW Yes
RW Yes Acc unit UDINT
RW Yes Acc unit UDINT
RO Yes Vel unit
RO Yes Vel unit
RW No Vel unit
RW No ms
Motor
Encoder
Data
Type
DINT
DINT
INT
DINT
DINT
UINT
UINT