CANopen Technical Guide | ASDA-A2 3.4 Profile Velocity Mode 3.4.1 Description Drive could receive velocity commands and plan acceleration and deceleration. 3.4.2 Operation Procedure ① Set 【 Mode of operations:6060h 】 to profile velocity mode(3). ② Set 【 Controlword:6040h 】 to servo on drive and make motor work. (After drive switch to servo-on, internal velocity command will be reset and OD-60FFh will be cleared.) ③ Set 【 Profile acceleration:6083h 】 to plan acceleration slope. (millisecond from 0rpm to 3000rpm) ④ Set 【 Profile deceleration:6084h 】 to plan deceleration slope. (millisecond from 0rpm to 3000rpm) ⑤ Set 【 Target velocity:60FFh 】 . The unit of Target velocity is 0.1rpm.
(If drive already servo-on, the drive will work immediately while receiving velocity command. OD-60FFh will be cleared to zero if OD-6060h[Mode] changed, Servo-Off or Quick-Stop is activated.) ⑥ Query 【 Statusword:6041h 】 to get drive status. 3.4.3 advanced ① Host could get information about velocity mode. Query 【 Velocity demand value:606B h 】 to get internal velocity command. (unit: 0.1rpm) Query 【 Velocity actual value:606C h 】 to get actual velocity value. (unit: 0.1rpm) ② Host could set velocity monitor threshold. Set 【 Velocity window:606D h 】 to allocate velocity reached zone. (unit: 0.1rpm) Set 【 Velocity widnow time:606E h 】 to plan time of activation of velocity reached.
(unit: millisecond) Set 【 Velocity threshold:606F h 】 to allocate zero speed level. (unit: 0.1rpm) 3.4.4 Associated Object List Revision Sep, 2012 19 Index Name Type Attr. 6040 h Controlword UNSIGNED16 RW 6041 h Statusword UNSIGNED16 RO 6060 h Modes of operation INTEGER8 RW 6061 h Modes of operation display INTEGER8 RO 606B h Velocity demand value INTEGER32 RO 606C h Velocity actual value INTEGER32 RO