19．EtherNet/IP COMMUNICATION
19.5.4.4 Profile velocity mode (pv)
The following shows the functions and related objects of the profile velocity mode (pv).
Velocity
trajectry
generator
×
×
×
×
Position actual internal value (6063h)
×
×
×
Velocity
limit
function
Acceleration
limit
function
Velocity
control
Torque
control
Torque limit value (60E0h, 60E1h)
Motion profile type (6086h)
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
Target velocity (60FFh)
Max profile velocity (607Fh)
Max motor speed (6080h)
Gear ratio (6091h)
Polarity (607Eh)
Velocity demand value (606Bh)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Motor
Encoder
Command speed
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
maximum speed
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Servo motor maximum speed
Unit: r/min
Acceleration at start of movement to
target position
Unit: ms
Deceleration at arrival at target
position
Unit: ms
Deceleration at deceleration to a
stop by Quick stop
Unit: ms
Acceleration/deceleration type
selection
-1: S-pattern
0: Linear ramp (not supported)
(Note)
1: Sin
2
ramp (not supported) (Note)
2: Jerk-free ramp (not supported)
(Note)
3: Jerk-limited ramp (not supported)
(Note)
Operation setting for Quick stop
Refer to section 5.6.
Position actual
internal value
Current position (Enc inc)
Current position (Pos units)
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