4.8.1.8 Speed limits
The maximum speed is limited in the operating mode profile positioning mode via
ps32 (CiA 0x607F) max profile velocity. A change is also possible with active posi-
tioning.
This value limits all setpoint speeds (target velocity vl20 / vl21, ps40 index speed,
setpoint speed from the profile generator), with the exception of the position con-
troller output.
The position controller output value can still be added to the (CiA 0x607F) max pro-
file velocity ps32.
4.8.1.9 Position limits
The position setpoint and position actual value limits are described in chapter 6.5.1
Position values.
4.8.1.10 Speed settings
Speed setpoints can also be specified in the "Profile positioning mode" instead of
position setpoints.
There are 2 different modes:
• Speed setpoint setting via the vl parameters
• Index speed setting
If no positioning and no index speed is active, the speed setpoint setting is set via
the vl parameters (=> Chapter 4.8.2.1 Set speed setting). The speed setting via the
vl_parameters is always limited additionally to the limit of ps32 by the vl velocity
min / max amount parameter (vl04…vl07).
In the "Index positioning" mode, a simple fixed speed setting (index speed setting)
of up to 32 different speeds can also be realized instead of a positioning sequence
in the following way:
• According to the number of required speed setpoints, a number of digital
inputs must be defined, which are used for index selection (=> Chapter
7.1.9.3 Index setting via digital inputs).
• For the used array indices, value 6 "speed reference" must be entered in
ps43 index mode].
• The setpoint speeds must be entered in the used array indices of ps40 in-
dex speed.
Example:
It should be possible to specify 5 fixed speeds with digital inputs:
-1000, -500, 0 , 500 und 1000 rpm
Three inputs are required in order to display the 5 numbers (0, 1, 2, 3, 4) digitally
binary (000
b
,001
b
,010
b
,011
b
,100
b
). The inputs I1, I2, I3 are selected
• di21 index input = 7: I1 + I2 + I3
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