Cyclic Synchronous Velocity Mode; Velocity Actual Value; Target Velocity - Control Techniques Nidec SI-EtherCAT User Manual

7.8

Cyclic Synchronous Velocity Mode

Cyclic Synchronous Velocity mode will be supported on Unidrive M600 and above in RFC-A and
RFC-S operating modes.
On Unidrive M600 and above, this profile will operate on the control loop cycle time, using the
drive's AMC speed reference (which is read by the drive every 250
configured to run in velocity mode).
The following objects will be supported:
Table 7-77 CSV supported objects
Index
606C
60B1
60C2
60FF
The target_velocity object will be re-read every new profile cycle (as specified by the
interpolation_time_period. This velocity demand will be scaled appropriately and written to the
drive; interpolation will be used to generate additional intermediate values if the
interpolation_time_period is greater than the interval at which the drive will read the hard speed
reference parameter.
7.8.1

Velocity actual value

This object provides the facility to read the actual velocity feedback value.
Table 7-78 Velocity actual value
0x606C Velocity actual value
Access: RO
Default: 0
PDO Mappable: TxPDO
Motion Profiles: All (where no feedback device this will be an estimate)
Indicates the actual velocity feedback value.
Description:
Value is given User-defined position units per ms.
7.8.2

Target velocity

This object is used to specify the target velocity value. The value is given in user-defined units.
Table 7-79 Target velocity
0x60FF Target velocity
Sub-index 0
Access: RW
Default: 0
PDO Mappable: RxPDO
Motion Profiles: ALL
Description: Specifies the target velocity value in User-defined position units per ms.
102
Velocity actual value
Velocity Offset
interpolation_time_period
target_velocity
31 31
Range: -2 to 2 -1
31 31
Range: -2 to 2 -1
, and the AMC will be
µs
Name
Size: 4 bytes Unit: N/A
Type: Signed integer / DINT
Update rate: Every Network Cycle period
Unit: User-defined position per
Size: 4 bytes
ms
Type: Signed integer / DINT
Update rate: Every Network Cycle period
SI-EtherCAT User Guide