Setting "Profile Velocity" (pv) mode of operation
A simple speed control is possible with this mode of operation.
The speed is always specified in inc s-1, while acceleration and deceleration are always specified in inc s-2.
The following example shows a conversion of the values:
Size | Value | ||
|---|---|---|---|
Speed | 1800 min-1 | 30 s-1 | 1966080 inc s-1 |
Deceleration/acceleration | 2 s | 15 s-2 | 983040 inc s-2 |
The following table shows the CiA402 objects which are required or recommended for the mode of operation. The objects do not absolutely have to be located in the cyclic PDO image.
Note the maximum number of 8 entries in the cyclic PDO image (see Adapting the PDO image).
Control | Feedback | ||
|---|---|---|---|
Mode of operation | Mode of operation display | ||
Control word | Status word | ||
Target velocity | Velocity actual value | ||
Profile acceleration |
| ||
Profile deceleration |
| ||
Proceed as follows:
- You have successfully started up the motor.
- You have integrated the inverter into the TwinCAT project via network scan or offline from the device catalog, linked it to a motion axis (see Motion axis: Integrating inverters) and transferred the corresponding process data object to the PDO image (Adapting the PDO image).
- If you want to adjust the PDO interface manually, set the required process data objects.
- The process data objects in the first two areas form the minimum configuration of the PDO interface. The values for acceleration and deceleration in the third area can alternatively also be set acyclically via SDO services (Service Data Object). The profile values for speed, acceleration and deceleration can be changed during operation.
- If you want to use the predefined "Switching modes of operation (pp+pv)" module, select the functionally fixed module in the "Slots" tab (see Motion axis: Integrating inverters).
- This mode of operation is usually used without a motion axis. Set the profile values directly via the PDO interface.
- Set pv in the "Modes of operation" process data object. Enter the value "3" in the editor window.
- The "Modes of operation display" process data object reports back the value "3".
- The value "3" is displayed on the display element of the inverter.
