Emerson 0471-0128-02 manual Vl velocity mode, 1 0x6042 vltargetvelocity

The time period is checked to ensure that it is an integer multiple of the control loop cycle time. Only linear interpolation is currently supported. This type inserts a delay of one interpolation time period.

The input buffer has a maximum size of 1 data record, and a data record contains one position in profile-defined units. The buffer is a FIFO buffer. Every interpolator time period, a value is read from this buffer. The correct number of data points for a specific interpolation mode are stored internally. When a new position command is loaded in, the oldest position command in the data set is discarded.

7.5vl velocity mode

Velocity mode is supported on Unidrive SP, Digitax ST, Affinity, Mentor MP and Commander SK. It is not, however, supported in regen modes. This mode uses the drive’s speed handling and ramps.

When the attached drive is in either of the closed-loop or servo operating modes the scaled velocity is written to the drive internal speed shortcut. When the attached drive is in an open-loop operating mode the scaled velocity is written to the user preset reference parameter (Pr 1.21). Table 7.36 lists the objects that are supported:

Table 7.36 vl velocity mode supported objects

Index	Name
0x6042	vl_target_velocity
0x6043	vl_velocity_demand
0x6044	vl_velocity_actual_value
0x6046	vl_velocity_min_max_amount
0x6047	vl_velocity_min_max
0x6048	vl_velocity_accleration
0x6049	vl_velocity_deceleration
0x604A	vl_velocity_quick_stop
0x604B	vl_setpoint_factor
0x604C	vl_dimension_factor

7.5.10x6042 vl_target_velocity

This object is used to set the required velocity of the system. It is multiplied by the vl_dimension_factor and the vl_setpoint_factor. The value is given in rpm, If the vl_dimension_factor has the value of 1, otherwise the value is in user units. Positive values indicate forward direction and negative values indicate reverse direction.

Table 7.37 vl_target_velocity

0x6042	vl_target_velocity
Access: RW		Range: -32768 to +32767	Size: Signed 16	Unit: rpm
Default:	0
Description:	Used to set the required velocity of the system.

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SM-EtherCAT User Guide	41
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