402 Fieldbus control through the embedded fieldbus interface (EFB)
Cyclic synchronous velocity mode
In cyclic synchronous velocity mode, the trajectory generator is in the control device
and not in the drive. The control device delivers a new target velocity value to the
drive periodically at a fixed interval. Target velocity is set with the object 60FFh and
the velocity actual value can be read from the object 606Ch. Velocity values are given
in increments per second. Increment resolution is defined by the object 608Fh. The
default values in object 608Fh are 65536 increments per 1 revolution. This means
that 1 rpm equals 1 [rpm] * 65536 [inc/s] / 60 [s/min] = 1092 inc/s.
Profile torque mode
The profile torque mode enables the drive torque to be controlled directly. Target
torque is set with the object 6071h and the torque actual value can be read from the
object 6077h. Torque values are given in per thousand of the rated torque, e.g. 10 =
1%.
Cyclic synchronous torque mode
In cyclic synchronous torque mode, the trajectory generator is in the control device
and not in the drive. The control device delivers a new target torque value to the drive
periodically at a fixed interval. Target torque is set with the object 6071h and the
torque actual value can be read from the object 6077h. Torque values are given in per
thousand of the rated torque, e.g. 10 = 1%.
State transition diagram for the CiA 402 profile
The diagram below shows the state transitions in the drive when the drive is using the
CiA 402 profile and the drive is configured to follow the commands of the control word
from the embedded fieldbus interface.
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