Xinje DF3E Series

79
4.6.3.2 PV mode
PV (Profile speed control mode) is a speed control mode that specifies the target speed, acceleration and
deceleration, and generates position command action in the servo driver.
1. Related object
PV control mode related object (command・setting type)
Register
Explanation
Unit
RXPDO[0x6040]
Control word
-
RXPDO[0x6060]
Set to 3
-
RXPDO[0x60FF]
Speed setting
Command unit/s
RXPDO[0x6072]
Max torque
0.1%
RXPDO[0x607F]
Max internal speed
Command unit /s
RXPDO[0x6080]
Max motor speed
r/min
RXPDO[0x6083]
Internal acceleration speed
Command unit /s²
RXPDO[0x6084]
Internal deceleration speed
Command unit /s²
RXPDO[0x60C5]
Max acceleration speed
Command unit /s²
RXPDO[0x60C6]
Max deceleration speed
Command unit /s²
PV control mode related object (command・monitor type)
Register
Explanation
Unit
TXPDO[0x6041]
State word
-
TXPDO[0x6061]
Mode query
-
TXPDO[0x6063]
Internal actual position
Command unit
TXPDO[0x6064]
Position feedback (motor actual
position)
Command unit
TXPDO[0x606C]
Speed feedback
Command unit /s
TXPDO[0x6077]
Actual torque
0.1%
2. Control word (6040h) <PV control mode function >
Index
Sub-
Index
Name/Description
Range
Date
Type
Access
PDO
Op-
mode
6040h
00h
Controlword
0~65535
U16
rw
RxPDO
All
Set the control command of servo driver such as PDS state transition.
Bit information
15
14
13
12
11
10
9
8
r
h
7
6
5
4
3
2
1
0
fr
oms
eo
qs
ev
so
r
r
r
r = reserved (No correspondence) fr = fault reset
oms = operation mode specific eo = enable operation
(control mode based on bit) qs = quick stop
h = halt ev = enable voltage
so = switch on
PV mode doesn’t use oms bit.
3. Control word (6041h) <PV control mode function>