YASKAWA Sigma-7 SGD7S Series - Page 570

The output value of the trajectory generator may be corrected by the output value of the
position control function. It is then provided as a demand value for the velocity controller
and given in the velocity units.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
606Bh Velocity
Demand Value
DINT RO TPZD - - Vel. units
The velocity actual value is also represented in velocity units and is coupled to the
velocity used as input to the velocity controller.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
606Ch Velocity Actual
Value
DINT RO TPZD - - Vel. units
The velocity window monitors whether the required process velocity has been achieved
after an eventual acceleration or deceleration (braking) phase.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
606Dh Velocity Window UINT RW No UINT
(default: 0)
Yes Vel. units
The corresponding bit 10 target reached is set in the Statusword when the difference
between target velocity and the velocity actual value is within the velocity window longer
than the velocity window time.
The value of the velocity window time is given in multiples of milliseconds.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
606Eh Velocity Window
Time
UINT RW No UINT
(default: 0)
Yes ms
This object shall indicate the configured velocity threshold that determines if velocity
actual value is exceeded or reached to threshold value.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
606Fh Velocity
Threshold
UINT RW No UINT
(default: 0)
Yes Vel. units
Velocity Demand Value
Velocity Actual Value
Velocity Window
Velocity Window Time
Velocity Threshold
Sigma-7 Series SERVOPACKs
Object Dictionary
PROFIdrive Velocity Mode
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