Profile Velocity Mode

Axis Object Value
Axis 1 6060h 6060h, 6860h Modes of operation - AxisX 3
Axis 2 6068h 6060h, 6860h Modes of operation - AxisX 3

Fieldbus

Profile Velocity Mode is supported by the following fieldbuses:

  • CAN bus/CANopen
  • EtherCAT/CANopen over EtherCAT (CoE)

Description

Profile Velocity Mode is a CANopen (DS402) mode of operation used for real-time velocity (jog) moves. The CANopen objects define the settings for this move. With this mode, the velocity command is sent from the master to the velocity loop in the slave drive. The drive operates in velocity mode. The motor will immediately ramp to the target velocity using the profile acceleration and deceleration settings.


  • Profile Velocity Mode supports changes to the setpoint using SDO or PDO methods.

Drive Opmode and Command Source

The AKD2G opmode and command source are automatically configured when the Mode of operation is set through objects 6060h, 6860h Modes of operation - AxisX.

Drive Command Value
AXIS#.OPMODE 1 - Velocity
AXIS#.CMDSOURCE 1 - Fieldbus

Motion Settings:

  • Target velocity

  • Profile acceleration

  • Profile deceleration

  • Scaling

Common PDO Data

Essential Objects
Index Sub-index Object Name Drive Command Data Type Access
60FFh, 68FFh Target velocity - AxisX 0h Target velocity AXIS#.VL.CMD Signed32 Read/Write
6083h, 6883h Profile acceleration - AxisX 0h Profile acceleration AXIS#.FBUS.ACC Unsigned32 Read/Write
6084h, 6884h Profile deceleration - AxisX 0h Profile deceleration AXIS#.FBUS.DEC Unsigned32 Read/Write
6040h, 6840h Controlword - AxisX 0h Controlword AXIS#.CANOPEN​.CONTROLWORD Unsigned16 Read/Write
Useful Objects
Index Sub-index Object Name Drive Command Data Type Access
6041h, 6841h Statusword - AxisX 0h Statusword AXIS#.CANOPEN​.STATUSWORD Unsigned16 Read Only
6063h, 6863h Position actual internal value - AxisX 0h Position actual internal value AXIS#.PL.FB Signed32 Read Only
6064h, 6864h Position actual value - AxisX 0h Position actual value AXIS#.PL.FB Signed32 Read Only
606Ch, 686Ch Velocity actual value - AxisX 0h Velocity actual value AXIS#.VL.FB Signed32 Read Only
606Bh, 686Bh Velocity demand value - AxisX 0h Velocity demand value AXIS#.VL.CMD Signed32 Read Only
606Dh, 686Dh Velocity window - AxisX 0h Velocity window N/A Unsigned16 Read/Write
606Eh, 686Eh Velocity window time - AxisX 0h Velocity window time N/A Unsigned16 Read/Write
605Ah, 685Ah Quick stop option code - AxisX 0h Quick stop option code N/A Signed16 Read/Write
5000h, 5100h AXIS#.* 4h Axis specific objects AXIS#.MOTIONSTAT Unsigned32 Read Only

Motion Functionality

Profile Velocity Mode follows the CANopen (DS402) State Machine. The drive must be in Operation enable state to act on the target velocity command.

The Controlword is used to control the state machine and command motion. See objects 6040h, 6840h Controlword - AxisX and 6041h, 6841h Statusword - AxisX.

Controlword Bits Motion Function
Bit 2 Stop motion (Quick stop)
Bit 8 Pause/halt

Controlword Bit 2 (Quick stop):

Controlword Bit Value Function
Bit 2 0 Stops motion
Bit 2 1 Allows motion

Controlword Bit 8 (Halt):

Controlword Bit Value Function
Bit 8 0 Allows/resumes motion
Bit 8 1 Pauses motion

Status

Statusword (6041h, 6841h Statusword - AxisX) can be read for handshaking purposes. It can indicate a fault or warning condition, status of the power stage, home attained, setpoint acknowledged, target position reached, etc.

Mode-Specific Statusword Bits

Statusword Bits Status
Bit 10 Target reached
Bit 12 Standstill

Statusword bit 10 (Target reached) sensitivity is set by objects 606Dh, 686Dh Velocity window - AxisX and 606Eh, 686Eh Velocity window time - AxisX.

Statusword Bit Value Controlword Bit 8 Value Function
Bit 10 0 0 Target not reached
1 Axis decelerating
Bit 10 1 0 Target reached
1 Velocity = 0
Statusword Bit Value Function
Bit 12 0 Motor is moving.
Bit 12 1 Motor is at standstill.

Example Sequence of Events

Step Object Name Object Sub-index User Value
Set operation mode Modes of operation 6060h, 6860h Modes of operation - AxisX 0 0x03h
Set parameters Profile acceleration 6083h, 6883h Profile acceleration - AxisX 0 User specified
Profile deceleration 6084h, 6884h Profile deceleration - AxisX 0 User specified
Ready for switch-on Controlword 6040h, 6840h Controlword - AxisX 0 0x06h
Operation enable Controlword 6040h, 6840h Controlword - AxisX 0 0x0Fh
Send target velocity Target velocity 60FFh, 68FFh Target velocity - AxisX 0 User specified
Halt Controlword 6040h, 6840h Controlword - AxisX 0 0x10Fh
Resume from halt Controlword 6040h, 6840h Controlword - AxisX 0 0x0Fh
Quick stop Controlword 6040h, 6840h Controlword - AxisX 0 0x0Bh
Resume from Quick stop Controlword 6040h, 6840h Controlword - AxisX 0

0x0Fh or

0x06h->0x0Fh
Send target velocity Target velocity

60FFh, 68FFh Target velocity - AxisX

0 User specified

Monitor

Step Object Name Object Sub-index Value
Read status Statusword bit 12 (motor moving) 6041h, 6841h Statusword - AxisX 0 0 or 1
Read status Statusword bit 10 (target reached) 6041h, 6841h Statusword - AxisX 0 0 or 1
Read velocity actual Velocity actual value

606Ch, 686Ch Velocity actual value - AxisX

0  
Read position actual internal value Position actual internal value 6063h, 6863h Position actual internal value - AxisX 0  
Read position actual value Position actual value 6064h, 6864h Position actual value - AxisX 0  

CANopen Scaling

The motion setpoints and actual values can be scaled using CANopen objects or the associated drive parameters. These include values for position, velocity, acceleration, deceleration and current (torque). See CANopen Scaling.

Scale factors affect the values of the motion setpoint objects and should be set prior to writing/changing the setpoint objects.