Siemens SIMOVERT MASTERDRIVES Manual page 583

Communication / CBC CANopen Communication Board
8.5.7.2 Profile Velocity mode
Profile Velocity
mode with F01
Example
8.5-68
The "Profile Velocity mode" is selected with [3] by the object 6060h
Modes_of_operation (MASTERDRIVES technology mode control [4] or
MASTERDRIVES speed control (master drive)).
In order to obtain a velocity as a setpoint or actual value in "Profile
Velocity mode", object 6092h (feed constant) must be written by the
CANopen master at every boot. This object is stored only on the CBC
and deleted on every reinitialization or power OFF.
The value of V must be entered in Lu/min (P205) in subindex 1 of
rated
6092h. The entry in subindex 1 determines the transfer format of the
setpoints and actual values.
The reference speed value (P353) must be entered in 6092h subindex
2.
The drive is normalized to µm. However, these values can be quite high
for a velocity input. If the value from P205 is entered in mm/min in
subindex 1, all setpoints can be input in mm/min. Actual values are then
also displayed in mm/min.
The reference speed (P353) must be entered in P6092 subindex 2.
The setpoint is specified in LU/min as defined according to object
6092.01h and may deviate from the quantity normalized in the drive by
P169/P170. The unit of length LU is specified by the position-feedback
scaling factor.
The actual values are returned in object 6092h depending on the
normalization.
The setpoint is looped into parameter P212 (source setpoint control) via
an analog value switch on the position controller. The analog value
switch is connected upstream so that the setpoints are supplied by the
technology during referencing (homing). If you decide you want the
technology to supply the setpoints all the time, i.e. even in "Profile
Velocity mode", you will not need the analog value switch (see
Subsection 8.5.12).
In this case, object 60FFh has no influence on the speed. You will then
need to modify the velocity values as described in the technology
manual.
Checkback signals in Profile Velocity mode:
In "Profile Velocity mode", the status word includes the messages
Target Reached and Internal Limit Active. Bit speed = 0 must be
generated by a free block interconnection and wired to the location as
specified in function diagram 8512.
The bit "target reached" is generated by a free block interconnection
with a limit value monitor.
An exact interconnection of free blocks for the message is described in
the Appendix.
6SE7087-6QX70 (Version AD)
Compendium Motion Control
02.2004
Siemens AG
SIMOVERT MASTERDRIVES