Control Techniques Nidec SI-EtherCAT User Manual page 85

7.5.1 Activate velocity mode redirection
This object provides the facility to redirect the velocity mode reference from the normal velocity
mode object (0x6042) to the cyclic sync velocity mode object (0x60FF).
Table 7-55 Activate velocity mode redirection
0x3008 Activate velocity mode redirection
Access: RW
Default: 0
PDO Mappable: No
This will switch on redirection from 0x60FF to 0x6042. Normally, 0x60FF is the reference for
the CSV mode, and 0x6042 is for velocity mode. Activating this means that 0x60FF will be
Description: used as the reference for velocity mode; its units will be RPM, with an allowable range
between -32768 and 32767. This object value will take effect on a CiA402 transition from
"Ready to switch on" to "Switched on".
7.5.2 0x6042 vl_target_velocity
This object is used to set the required velocity of the system. It is multiplied by the
vl_dimension_factor and the vl_setpoint_factor. The value is given in rpm, If the
vl_dimension_factor has the value of 1, otherwise the value is in user units. Positive values indicate
forward direction and negative values indicate reverse direction.
Table 7-56 vl_target_velocity
0x6042 vl_target_velocity
Access: RW
Default: 0
PDO Mappable: RxPDO
Motion Profiles: VL
Used to set the required velocity of the system. The value is scaled based on other VL velocity
objects and written to drive parameter 01.021 when in VL Velocity profile mode and the
CiA402 Status Word reports "Operational Enabled".
Description:
NOTE
7.5.3 0x6043 vl_velocity_demand
This read only object provides the instantaneous velocity demand generated by the drive ramp
function. The value is given in rpm if the vl_dimension_factor and the vl_setpoint_factor have the
value 1, otherwise the value is in user units. Positive values indicate forward direction and negative
values indicate reverse direction.
Table 7-57 vl_velocity_demand
0x6043 vl_velocity_demand
Access: RO
Default: 0
PDO Mappable: TxPDO
Motion Profiles: VL
Description: Provides the instantaneous velocity demand generated by the drive ramp function.
SI-EtherCAT User Guide
Range: 0 to 1
Range: -32768 to 32767 Size: 2 bytes
If Object 0x3008 is set to On, the value in this object (0x6042) is ignored and
0x60FF is used instead
Range: -32768 to 32767 Size: 2 bytes
Size: 1 byte
Type: Unsigned integer / USINT
Update Rate: New value used on change of CiA402
profile
Type: Signed integer / INT
Update rate: Every network cycle period.
Type: Signed integer / INT
Update rate: Updated in the background
Unit: N/A
Unit: rpm
Unit: rpm
85