Cyclic Synchronous Velocity Mode - YASKAWA SGD7S-xxxDA0 series Product Manual

14.5 Velocity Control Modes

14.5.2 Cyclic Synchronous Velocity Mode

14.5.2 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 (60B2h)
Velocity offset (60B1h)
Target velocity (60FFh)
Quick stop deceleration (6085h)
(or profile deceleration (6084h))
Quick stop option code (605Ah)
Torque actual value (6077h)
Velocity actual value (606Ch)
Velocity window (606Dh)
Target reached in statusword
(6041h)
Position actual value (6064h)
Related Objects
Index
60FFh
60B1h
60B2h
6084h
6085h
606Bh
606Ch
606Dh
606Eh
*
The rated motor torque is 100%.
14-18
Multiplier
+
Velocity
[Vel unit]
+
user unit
(2702h: 1, 2702h: 2)
Multiplier
Acceleration
user unit
(2703h: 1, 2703h: 2)
Target velocity
Velocity reached
Velocity window
window
time (606Eh)
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
(2704h: 2, 2704h: 1)
Velocity
user unit
(2702h: 1, 2702h: 2)
Position actual
internal value (6063h)
+
-
Multiplier
Position
user unit
(2701h: 1, 2701h: 2)
Name
Velocity
demand
value
(606Dh) +
+
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