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6. CONTROL MODE
6.1 Speed Control
The Lift Controller configures speed control via AO 6403
closed loop (with encoder on the motor).
For safety reasons, configuration is not possible when the Drive is in Enable status.
The control takes place with the multi-speeds that the controller transmits to the drive
Starting is controlled by the Lift Controller via AO 6430hex (Target Velocity), which assumes a value
other than zero. Direction is defined by the sign of the AO.
Based on the AO 6430hex target speed (expressed in multiples of mm/s) communicated to the drive
and the AO 6406hex speed reference (Control Effort) that the drive communicates to the Lift Controller,
Note:
the Lift Controller calculates and communicates to the drive the point at which to activate deceleration to
reach the destination floor. When the destination floor is reached, the Lift Controller communicates zero
speed to the drive as the new target speed, which forces the drive to stop the car. In turn, the drive
communicates to the Lift Controller that it has reached the target speed via the 10
6401hex status word.
6400
6403
6430
6401
6406
By appropriately configuring the Lift Controller, direct arrival with speed control is possible by using the sequences
described above.
ADL300 CiA® 417- Description of functions and parameter list
RPDO
259
TPDO
260
TPDO
262
ADL 300
Figure 6: Exchange messages between Drive and Lift Controller for speed control
. Speed control can be in open loop (no motor encoder) or in
hex
TPDO
259
RPDO
260
RPDO
262
th
bit of the AO
6400
6403
6430
6401
6406
Lift Controller
Page 10 of 46
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