20.PROFINET COMMUNICATION
20.6.4 Profile velocity mode (pv)
The following shows the functions and related PROFIdrive parameters of the profile velocity mode (pv).
The dotted line area in the following diagram is used only for Standard Telegram 1.
Normalization
function
Speed setpoint A
Target Velocity (P24831)
Velocity actual value (P24684)
To the follow ing diagram
Speed actual value A
Velocity
trajectry
generator
×
×
×
×
Position actual internal value (P24675)
×
×
×
Velocity
limit
function
Acceleration
limit
function
Velocity
control
Torque
control
Torque limit value (P24800, P24801)
Motion profile type (P24710)
Profile acceleration (P24707)
Profile deceleration (P24708)
Quick Stop deceleration (P24709)
Quick stop option code (P24666)
Target velocity (P24831)
Max profile velocity (P24703)
Max motor speed (P24704)
Gear ratio (P24721)
Polarity (P24702)
Velocity demand value (P24683)
Position actual value (P24676)
Velocity actual value (P24684)
Torque actual value (P24695)
Motor
Encoder
Command speed (Vel units)
maximum speed
Unit: Vel units (0.01 r/min )
Servo motor maximum speed
Unit: r/min
Acceleration at start of movement to target
position
Unit: ms
Deceleration at arrival at target position
Unit: ms
Deceleration at deceleration to a stop by
Quick stop
Unit: ms
Acceleration/deceleration type selection
-1: S-pattern
0: Linear ramp (Not compatible) (Note)
1: Sin
2
ramp (Not compatible) (Note)
2: Jerk-free ramp (not compatible) (Note)
3: Jerk-limited ramp (not compatible) (Note)
Operation setting for Quick stop
Refer to section 8.10.