Velocity Mode; Pds State Machine - Vacon OPTE6 User Manual

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8.2

Velocity mode

The velocity mode is one of the specific modes that CIA-402 Drive Profile defines. Common behav-
iour in all modes are PDS state machine, some control and status bits and certain objects.
8.2.1

PDS State machine

The PDS state machine describes the generic start and stop sequence of the drive and the error be-
havior. The state machine is controlled by the Controlword object and internal events.The following
objects are usable in velocity mode:
Table 74. Velocity mode related objects in OD
Index Description
0x6040 Controlword
0x6041 Statusword
0x6042 Vl Target Velocity
0x6043 Vl Velocity Demand
0x6044 Vl Velocity Actual Value
0x6046 Vl Velocity Min Max Amount
0x6048 Vl Velocity Acceleration
0x6049 Vl Velocity Deceleration
The possible state machine transitions can be seen from Figure 15. The state of the AC drive can be
changed by writing the corresponding bits to Controlword data object. The needed bit values for
each command can be seen from Figure 14.
8
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