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EtherCAT Option Card CMC-EC01
5.2.3
Velocity Mode
The host sends the speed command, acceleration and deceleration and other information to the drive,
and the drive executes related speed control behaviors.
vl target velocity (6042
vl ramp function time (604F
vl slow down time (6050
vl quick stop time (6051
The operation steps are as follows:
1. Setting mode: OD 6060h = 02h, which is the velocity mode
2. Set speed command: OD 6042h (Unit: RPM)
3. Set acceleration time: OD 604Fh (Unit: ms)
4. Set deceleration time: OD 6050h (Unit: ms)
5. Set the control command: OD 6040h, the control word command makes the drive operate
according to the above settings by using the following steps. For the state machine of the drive,
refer to OD 6041h.
(1) OD 6040h = 06h, the drive enters Ready to Switch On state
(2) OD 6040h = 0Eh, the drive enters Switch On state (Servo On)
(3) OD 6040h = 0Fh, the drive enters Operation Enable state
(4) OD 6040h = 7Fh, the drive starts running
The corresponding control commands are as follows:
Steps
Bit 6
(1)
0
(2)
0
(3)
0
(4)
1
When using the velocity mode (OD 6060h = 02h), the corresponding behavior of controlword
operation bit (bit 4–6) is as follows:
bit 6
1
1
X
Read drive information
1. OD 606Ch, to observe the motor speed
2. OD 6041h, status word of the drive, bit 10 target reached (0: Target speed is not reached; 1:
Target speed is reached)
)
h
)
h
)
h
)
h
Bit 5
Bit 4
Bit 3
0
0
0
0
0
1
0
0
1
1
1
1
OD 6040h
bit 5
0
1
X
Ramp
Function
Bit 2
Bit 1
Bit 0
1
1
0
1
1
0
1
1
1
1
1
1
bit 4
1
1
X
vl velocity
actual
Velocity
value
Control
(6044
Function
Description
Shutdown (Close)
Switch On (Drive Servo On Ready)
Enable Operation (Drive Servo On)
Run to target speed
Behavior
Maintain at present speed
Run to target speed
Decelerate to 0 RPM
CMC-EC01 Operation Manual 31
)
h
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