YASKAWA Sigma-7 SGD7S Series - 14.3 PROFIdrive Position Mode; 14.3.1 Overview

14.3 PROFIdrive Position Mode
14.3.1 Overview
The PROFIdrive position mode is used to start positioning to the target position with the
profile velocity, the profile acceleration and the profile deceleration. The following figure
shows the block diagram of the PROFIdrive position mode. Refer to the following chap-
ters for details on both available position submodes:
n MDI submode
n Program submode
Position
limit function
Position unit
multiplier
(2301:0/2301:1)
Position
trajectory
generator
Target Position (607Ah)
Software Position Limit (607Dh)
Velocity
limit function
Velocity unit
multiplier
(2302:0/2302:1)
Profile Velocity (6081h)
Max. Profile Velocity (607Fh)
Acceleration
limit function
Acceleration unit
multiplier
(2303:0/2303:1)
Profile Acceleration (6083h)*
Quick Stop Deceleration (6085h)
Profile Deceleration (6084h) * *
[Pos. unit]
[Vel. unit]
[Acc. unit]
[inc]
[inc/ms]
10
4
[inc/s
2
]
Fault Reaction Option Code (605Eh)
Halt Option Code (605Dh)
Position
control
loop
Velocity
control
loop
Position
Demand
Internal
Value
(60FCh)
Position Demand
Value (6062h)
Following error
window
comparator
Position unit
multiplier
(2301:1/2301:0)
Velocity unit
multiplier
(2302:1/2302:0)
Position reached
window
comparator
Position unit
multiplier
(2301:1/2301:0)
Position Window
Time (6068h)
Following Window
Time Out (6066h)
Output of position
limit function
Position Actual Value (6064h)
Velocity Actual Value (606Ch)
Torque Actual Value (6077h)
Position Actual
Internal Value (6063h)
Position Window (6067h)
Target Reached in
Statusword (6041h)
Following Error in
Statusword (6041h)
Following Error Window (6065h)
Following Error Actual Value (60F4h)
+
+
-
-
Torque
control
loop
Motor
Encoder
MDI Mode (2538h)
Traversing block task mode 2610h|0-63
Traversing block target position 2611h|0-63
Traversing block profile velocity 2612h|0-63
Traversing block profile acceleration 2613h|0-63
Traversing block profile decelaration 2614h|0-63
Traversing block selection (2532h)
Actual Traversing Task (2533h)
MDI Acceleration (2536h)
OR
MDI Deceleration (2537h)
OR
Max Acceleration (60C5h)
Max Deceleration (60C6h)
Program
storage
Quick Stop Option Code (605Ah)
Fig. 362: PROFIdrive Position Mode
Sigma-7 Series SERVOPACKs
PROFIdrive Drive Profile
PROFIdrive Position Mode > Overview
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