Velocity Control Modes; Profile Velocity Mode - YASKAWA SGD7S-xxxDA0 series Product Manual

14.5

Velocity Control Modes

14.5.1

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 (60FFh)
Max profile velocity (607Fh)
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
Velocity actual value (606Ch)
Target reached in statusword
(6041h)
Velocity window
time (606Eh)
Position actual value (6064h)
Related Objects
Index
60FFh
607Fh
6083h
6084h
6085h
606Bh
606Ch
606Dh
606Eh
Multiplier
Velocity
[Vel unit]
Velocity
user unit
limit function
(2702h: 1, 2702h: 2)
Multiplier
Acceleration
[Acc unit]
Acceleration
user unit
limit function
(2703h: 1, 2703h: 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
(606Dh)
Velocity
10 4 [inc/s 2 ]
trajectory
generator
Torque
user unit
(2704h: 2, 2704h: 1)
Velocity
user unit
(2702h: 1, 2702h: 2)
Multiplier
Position actual
Position internal value (6063h)
user unit
(2701h: 1, 2701h: 2)
Access
RW
RW
RW
RW
RW
RO
RO
RW
RW

14.5 Velocity Control Modes

14.5.1 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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