Profile Velocity Mode (Pv) - Leadshine EL8-EC Series User Manual

606C-00h
60F4-00h
6077-00h
Extended object
Index+Sub-Index
603F-00h
6060-00h
6061-00h
606B-00h
605A-00h
6085-00h

5.6.3 Profile Velocity Mode (PV)

In asynchronous motion mode, master device is only responsible for sending motion
parameters and control commands.EL8-EC servo drive will conduct trajectory planning
according to the motion parameters sent by master device after receiving the motion start
command from the master device. In asynchronous motion mode, the motion between
each axes is asynchronous.
PV Block Diagram
The difference between PV and CSV mode is that PV needs EL8-EC to have the function
of trajectory generator. The input and output structure of the trajectory generator is shown
in figure 5.8
Polarity(2060h + 2062h)
Target velocity(60FFh) Limit
Profile acceleration(6083h)
Profile deceleration(6084h)
Quick stop deceleration(6085h)
Actual speed feedback
Actual following error
Actual torque
Name
Error code
Operation mode
Displayed
mode
Internal command
velocity
Quick stop option
Quick stop deceleration
Velocity[Unit/S]
MUL
Function
ACC/DEC[Unit/S
Limit
Function
User manual of EL8-EC***F AC Servo
I32 RO
I32 RO
I16 RO
Data
Access
Type
U16 RO
I8 RW
operation
I8 RO
I32 RO
I16 RW
U32 RW
Profile
Velocity
Trajectory
generato
2
]
Uint /S Optional
Uint Optional
0.1% Optional
Unit
—
—
—
Uint
—
Uint /S
Trajectory planning output
r
221