CiA402 profile
Functional description
bThe operation of the drive can be summarized by 2 main functions, described by the following 2 diagrams (the values in brackets are the CANopen addresses of the parameters):
• Control diagram:
controlword (6040) 
State machine
statusword 
(6041)
• Simplified diagram of the speed control in "Velocity" mode:
vl_target_velocity |
| Limit |
| Ramp |
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| vl_velocity_demand | |
(6042) |
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| (6043) |
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| vl_velocity_min_max amount (6046) |
| vl_velocity_acceleration (6048) |
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| vl_velocity_acceleration (6049) |
Power device
3
M
vl_control_effort
(6044)
bThe main parameters are shown with their CiA402 name and their CiA402/Drivecom index (the values in brackets are the parameter codes).
These diagrams translate as follows for the Altivar system:
• Control diagram:
Control word | State machine |
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| Status word | |||
(CMD) |
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| (ETA) |
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• Simplified diagram of the speed regulation in "Velocity" mode:
Speed reference |
| Reference limit |
| Ramp |
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(LFRD) |
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| Acceleration - Speed delta (SPAL) |
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| Minimum speed (SMIL) |
| Acceleration - Time delta (SPAT) |
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| Maximum speed (SMAL) |
| Deceleration - Speed delta (SPDL) |
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| Deceleration - Time delta (SPDT) |
Speed reference
after ramp
(FRHD)
Power
module
3
M
Output speed
(RFRD)
18
