NANOTEC PD4-C - Page 57

6 Operating modes
Delta time (6048
h
:2)
Delta speed (6048
h
:1)
VL velocity acceleration =
●
6049
h
(Velocity Deceleration):
This object defines the deceleration (deceleration ramp). The subindices here are arranged as described
in object 6048
h
; the change in speed is to be specified with positive sign.
●
6046
h
(Velocity Min Max Amount):
The limitations of the target speeds are specified in this object.
The minimum speed is set in 6046
h
:1
h
. If the target speed (6042
h
) falls below the minimum speed, the
value is limited to the minimum speed 6046
h
:1
h
.
The maximum speed is set in 6046
h
:2
h
. If the target speed (6042
h
) exceeds the maximum speed, the
value is limited to the maximum speed 6046
h
:2
h
.
●
604A
h
(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 6048
h
.
The following objects can be used to check the function:
●
6043
h
(Vl Velocity Demand)
●
6044
h
(Vl Velocity Actual Value)
6.2.6.1 Speeds in Velocity Mode
Delta time
6048
h
:2
Delta time
6049
h
:2
Delta speed
6048
h
:1
Delta speed
6049
h
:1
VL target velocity 6042
h
VL velocity max
amount 6046
h
:2
VL velocity min
amount 6046
h
:1
Speed
t
6.2.6.2 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 6041
h
is set (internal limit active).
Factor
function
VL target velocity 6042
h
VL dimension factor 604C
h
VL velocity min max amount 6046
h
VL velocity acceleration 6048
h
VL velocity deceleration 6049
h
VL quick-stop 604A
h
Control word 6040
h
Bit 8 (halt)
Ramp
function
Velocity
limit
function
Velocity
control
function
Reverse
factor
function
VL velocity
actual value
6044
h
VL velocity
demand 6043
h
Status word 6041
h
Bit 11
(internal limit active)
Reverse
factor
function
Version: 2.0.1 / FIR-v1650 57