Vl Velocity Mode - Control Techniques Nidec SI-EtherCAT User Manual

The implementation of interpolated position mode allows synchronous operation only, where a
fixed, common interpolation interval is defined. The time specified must always be an integer
multiple of the control loop cycle time. The time period index has a minimum value of -6 (i.e. the
smallest time unit will be microseconds), see Table 7-53 for more information.
Table 7-53 Interpolation time period units
Value in 0x60C2, sub-index 2
0
-1
-2
-3
-4
-5
-6
The time period is checked to ensure that it is an integer multiple of the control loop cycle time. Only
linear interpolation is currently supported, this type inserts a delay of one interpolation time period.
The input buffer has a maximum size of 1 data record, and a data record contains one position in
profile-defined units. The buffer is a FIFO buffer. On each interpolator time period, a value is read
from this buffer. The correct number of data points for a specific interpolation mode are stored
internally. When a new position command is loaded in, the oldest position command in the data set
is discarded.
7.5

vl velocity mode

Velocity mode is supported on Unidrive M200 and above. It is not, however, supported in regen
modes.
When the drive is in either of the RFC-A or RFC-S operating modes the scaled velocity is written to
the drive internal speed shortcut. When the drive is in an open-loop operating mode the scaled
velocity is written to the user preset reference parameter (Pr 01.021). Table 7-54 lists the objects
that are supported:
Table 7-54 vl velocity mode supported objects
Index
0x3008
0x6042
0x6043
0x6044
0x6046
0x6048
0x6049
0x604A
0x604B
0x604C
84
1 second
0.1 of a second
0.01 of a second
0.001 of a second
0.0001 of a second
0.00001 of a second
0.000001 of a second
Active velocity mode redirection
vl_target_velocity
vl_velocity_demand
vl_velocity_actual_value
vl_velocity_min_max_amount
vl_velocity_accleration
vl_velocity_deceleration
vl_velocity_quick_stop
vl_setpoint_factor
vl_dimension_factor
Description
Name
SI-EtherCAT User Guide