Mode Configuration; Cyclic Sinchronous Velocity Mode; Control And Status Bits; Object 60B1H - Velocity Offset - WEG SCA06 User Manual

8.7.4 Mode Configuration
The objects below will be configured for the drive works in Cyclic Synchronization Position Mode:
0x6040 - Controlword
0x6060 – Modes of Operation
0x60C2 – Interpolation Time Type
0x60B1 – Velocity Offset
0x6086 – Motion Profile Type
0x607A – Target Position;
8.8

CYCLIC SINCHRONOUS VELOCITY MODE

In cyclic synchronous manner, it provides a target velocity to the drive device, wich performs velocity control and
torque control. The overall structure for this mode is shown in Figure 8.7.
8.8.1

Control and Status Bits

This mode uses no mode specific bits of the contolword and three bits of the statusword for mode-specific purposes.
Table 8.18 defines the values for bit 10, 12 and 13 of the statusword.
Bit Value
0
10
1
0
12
1
0
13
1
8.8.2 Object 60B1h – Velocity Offset
In cyclic synchronous velocity mode, it contains the command offset of the drive device.
Figure 8.7: Cyclic synchronous velocity mode overview
Table 8.18: definition of bit 10, bit 12 and bit 13
Reserved
Reserved
Target velocity ignored
Target velocity shall be used as input to velocity control loop
Reserved
Reserved
Definition
CiA 402 Drive Profile
SCA06 | 40