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Page 42 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020
5.3.3 Perform speed ramp
When the drive is in "Ready for operation" state, its movement can be speed-
controlled.
For this purpose the "Profile Velocity (PV)" operating mode must be set and the
operating mode must then be executed with the control word:
Object 0x6060 operating mode = 3
The speed ramp is started by a falling edge (1->0) in STW.8.
Alternatively, the speed ramp can also be started as follows:
STW.1, STW.2: 0x06
--> STW.0: 0x07 is not necessary urgently and can be skipped
--> STW.3: 0x0F Execute operating mode, drive rotates
The ramp results from the current settings for the target speed, acceleration and
deceleration:
Figure 12: Speed ramp
The drive accelerates up to the preset target speed and retains this speed, until the
drive is stopped manually.
The axis can be stopped using different methods:
Set target speed in object 0x60FF to 0
Stop axis with control word bit 8 = 0->1
Execute NMT service "Stop Remote Node" command 0x02
Reset STW.2: 0x07, end execution of operating mode
A change to the target speed during operation results in immediate execution of the
ramp, which accelerates or decelerates the current speed value.
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