Cyclic synchronous velocity mode

In cyclic synchronous velocity mode, EMCL closes the control loop with a magnitude proportional to the current velocity, either obtained directly or estimated from the position readings. This mode is very similar to the profile velocity control mode, with one fundamental difference: the trajectory profiler is omitted. The following diagram depicts how this mode works internally:

The value of the target velocity register, as obtained from the command source, is processed immediately on reception (system limits, etc.). After estimating the control effort and converting it to torque, the torque demand is delivered to the control unit. Upon reaching target position, a statusword is issued as a notification to other nodes.

The fact that the internal trajectory profiler is not used conditions the control parameters and the master-controller relationship in several ways:

• For the master to close a control loop, it needs to have available the sensor readings. Nevertheless, the sensors are placed in the motion controller, and therefore network intercommunication is required not only to receive the updated on the target torque, but also for the master to receive sensor data from the motion controller.
• The presence of network protocol and network lag instead of direct memory access from the motion controller makes this mode inherently less responsive than modes that use the internal profiler.
• If the master chooses to close a less responsive loop, the parameters of the controller can not be chosen as agressively as if the control system was more responsive.
• If the master attempts to close a highly responsive loop, a high percentage of the communication bandwidth should be devoted to communications related to the control loop, which may be undesirable.

As an attempt to improve motion smoothness for masters with insufficient target update rates, linear interpolation is applied to the incoming data. The interpolation time base can be chosen through the interpolation time period register.

Cyclic synchronous velocity mode is not supported for AC induction motors.

Controlword in cyclic synchronous velocity mode

The cyclic synchronous velocity mode uses no mode specific bit of the controlword. The target velocity will be automatically processed after reception.

Statusword in cyclic synchronous velocity mode

The binary representation of the register value and its corresponding meaning is as follows:

The meaning of each bit is described below, depending on its value:

Related objects

0x60FF - Target velocity

0x2501 - Velocity control parameters set

0x606B - Velocity demand value

0x606C - Velocity actual value