YASKAWA Sigma-7 SGD7S Series

14.5 PROFIdrive Velocity Mode
In the PROFIdrive velocity mode, the speed is output in accordance with the profile accel-
eration and profile deceleration, until it reaches the target velocity.
The following figure shows the block diagram of the PROFIdrive velocity mode.
Motor
Enc.
NSOLL_A (2505h)
NSOLL_B (2507h)
N2[0x4000 =
607Fh
/
2
]
N4[0x40000000 =
607Fh
/
2
]
N2[0x4000 =
607Fh
/
2
]
N4[0x40000000 =
607Fh
/
2
]
Target velocity (60FFh)
Max profile velocity (607Fh)
Velocity
limit function
Vel unit
multiplier
(2302:0/2302:1)
Acc unit
multiplier
(2303:0/2303:1)
Velocity
trajectory
generator
Velocity
control
loop
Torque
control
loop
Pos unit
multiplier
(2301:1/2301:0)
Vel unit
multiplier
(2302:1/2302:0)
Vel reached
window
comparator
Vel window
time (606Eh)
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop dec (6085h)
Max acceleration (60C5h)
Max deceleration (60C6h)
Velocity demand value (606Bh)
Velocity actual value (606Ch)
Velocity window (606Dh)
ZSW1, bit 8
Vel reached
threshold
comparator
Velocity threshold (606Fh)
ZSW1, bit 10
Position actual internal value (6063h)
Position actual value (6064h)
Following error actual value (60F4h)
NIST_A (2506h)
NIST_B (2508h)
Quick stop option code (605Ah)
Halt option code (605Dh)
Torque actual value (6077h)
[Vel
unit]
Acc limit
function
[Acc
unit]
[
inc
/
ms
]
[10
4
inc
/
s²
]
Fig. 367: PROFIdrive Velocity Mode
Index
(hex)
Sub
Pn No.
Name
Access
PDO Mapping
Default value
Units
Type
6040h 0 B11 Controlword 1(STW1) RW RPZD 0 - UINT
6041h 0 B12 Statusword 1 (ZSW1) RO TPZD 0 - UINT
2503h 0 BB0 Controlword 2 (STW2) RW RPZD 0 - UINT
2504h 0 BB1 Statusword 2 (ZSW2) RO TPZD - - UINT
2505h 0 BB2 Speed Setpoint A RW RPZD 0 N2 INT
2507h 0 BB4 Speed Actual Value A RO TPZD 0 N2 INT
60FFh 0 B8E Target Velocity RW RPZD 0 Vel. units DINT
2506h 0 BB3 Speed Setpoint B RW RPZD 0 N4 DINT
2508h 0 BB6 Speed Actual Value B RO TPZD 0 N4 DINT
606Ch 0 B30 Velocity Actual Value RO TPZD 0 Vel. units DINT
6077h 0 B3E Torque Actual Value RO TPZD 0 0.1 % INT
Related Objects
Sigma-7 Series SERVOPACKs
PROFIdrive Drive Profile
PROFIdrive Velocity Mode
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