Velocity Mode (vl)

Velocity (vl) mode is used in applications that use a velocity set-point and a Controlword for switching the drive device on and off.

All drive devices using this profile and supporting the velocity mode must implement the mandatory objects and their functionality according to the figure:

Velocity limit function

The velocity limit function allows specifying limits in user-defined units with the vl Dimension Factor (numerator) or in rotations per minute (rpm).

The limit-value message is generated if speed limit input by the user results in a value outside the speed limit’s operating range. The limit-value message is mapped in the Statusword (bit11).

Ramp function

The velocity output is equal to the input when changes stay within the limits defined by vl Velocity acceleration (delta time), vl Velocity deceleration (delta speed) and velocity quickstop.

Velocity control function

The velocity control function provides the vl Control Effort based on the vl Velocity Demand.

Factor function

The factor function multiplies the input variables by the assigned factors. The factor has a default value of 1.

Related objects:

Index	Object	Name	Type	Attr.	M/O
6040.0H	VAR	Controlword	UNSIGNED16	rw	M
6041.0H	VAR	Statusword	UNSIGNED16	ro	M
6042.0H	VAR	vl Target Velocity	INTEGER16	rw	M
6043.0H	VAR	vl Velocity Demand	INTEGER16	ro	M
6044.0H	VAR	vl Control Effort	INTEGER16	ro	M
6046H	ARRAY	vl Velocity min max amount (number of entries)	UNSIGNED32	rw	M
6048H	RECORD	vl Velocity acceleration (number of entries)	vl velocity acceleration deceleration	rw	M
6049H	RECORD	vl Velocity deceleration (number of entries)	vl velocity acceleration deceleration	rw	M
604CH	ARRAY	vl Dimension Factor (number of entries)	INTEGER32	rw	O