This mode operates the motor at a preset target speed, similar to a frequency inverter. Unlike the Profile Velocity Mode, this mode does not permit the selection of jerk-limited ramps.
The following bits in object 6040h (controlword) have a special function:
- Bit 8 (Halt): If this bit is set to "1", the motor stops. On a transition from "1" to "0", the motor accelerates with the acceleration ramp to the target speed. On a transition from "0" to "1", the motor brakes according to the deceleration ramp and comes to a standstill.
The following bits in object 6041h (statusword) have a special function:
- Bit 11: Limit exceeded: The target speed is above or below the set limit values.
The following objects are necessary for controlling this mode:
604Ch (Dimension Factor):
The unit for speed values is defined here for the following objects.
Subindex 1 contains the denominator (multiplier) and subindex 2 contains the numerator (divisor) with which the internal speed values are converted to revolutions per minute. If, for example, subindex 1 is set to the value "60" and subindex 2 is set to the value "1", the speed is specified in revolutions per second (60 revolutions per 1 minute).
6042h: Target Velocity.The target speed is set here in user-defined units.
6048h: Velocity Acceleration
This object defines the acceleration. Subindex 1 contains the change in speed, subindex 2 the corresponding time in seconds. Both together are used to calculate the acceleration:
6049h (Velocity Deceleration):
This object defines the deceleration (deceleration ramp). The subindices here are arranged as described in object 6048h; the change in speed is to be specified with positive sign.
6046h (Velocity Min Max Amount):
The limitations of the target speeds are specified in this object.
604Ah (Velocity Quick Stop):
This object can be used to set the quick-stop ramp. Subindices 1 and 2 are identical to those described for object 6048h.
- 6080h (Max Motor Speed): Maximum speed
Speeds in Velocity Mode
Objects for Velocity Mode
The ramp generator follows the target speed, remaining within the set speed and acceleration limits. As long as a limit is active, bit 11 in object 6041h is set (internal limit active).