Object 606Ch - Velocity Actual Value; Object 60Ffh - Target Velocity; Profile Torque Mode; Control And Status Bits - WEG SCA06 User Manual

Index
606Bh
8.5.4 Object 606Ch – Velocity Actual Value
It indicates the motor speed. The value provided by this object is given in the internal scale of the SCA06, where
0x7FFF FFFF → 10.000 rpm.
Index
606Ch
8.5.5 Object 60FFh – Target Velocity
Allows programming the speed reference for the SCA06 servo drive in speed mode. The value set in this object must
observe the internal scale of the SCA06, where 0x7FFF FFFF → 10.000 rpm and 0x8000 0000 → -10.000 rpm.
Index
60FFh
8.6 PROFILE TORQUE MODE
This mode allows controlling the drive by means of a torque reference received by the EtherCAT network.
Those functions are executed based on a set of objects for the configuration of this mode of operation.
8.6.1

Control and Status Bits

Bits 4, 5, 6 and 8 of the control word (object 6040h – Controlword) have the following functions in the speed mode:
Bit Name
4
5
6
8 Halt
For the StatusWord object (6041h), the following bits are used:
Bit 10 – Target reached;
Bit 12 – Reserved;
Bit 13 – Reserved.
Sub-
Name
index
0 Velocity Demand Value
Sub-
Name
index
0 Velocity Actual Value
Sub-
Name
index
0 Target Velocity
Table 8.14: Torque Mode – definition of the bits 4, 5, 6 and 8
Value
0 Executes movement.
1 Stops shaft.
Type Access
INT32 ro
Type Access
INT32 ro
Type Access
INT32 rw
Definition
Reserved
Reserved
Reserved
CiA 402 Drive Profile
PDO
Mapping
Yes
PDO
Mapping
Yes
PDO
Mapping
Yes
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