Illustration 2.18 shows the definition of the sub-function position reached. A window is defined for the accepted positionrange symmetrically around the target position. If a servo drive is situated in the accepted position range over the timeposition window time, the bit Target reached (bit 10) in the Statusword is set to 1.Accepted position rangePositionwindowPosition notreachedPosition notreachedPosition reachedTargetpositionPositionPositionwindow130BF174.10Illustration 2.18 Position Reached Window2.4.2 Profile Velocity ModeIn Profile velocity mode, the servo drive is operated under velocity control and executes a movement with a defined velocity(see chapter 7.11.1 Parameter 52-20: Target Velocity (0x60FF)). Parameters such as acceleration (see chapter 7.5.7 Parameter50-11: Profile Acceleration (0x6083)) and deceleration (see chapter 7.5.8 Parameter 50-12: Profile Deceleration (0x6084)) can beparameterized. Parameters that influence the Profile velocity mode can be found in Illustration 2.19.This functionality can be commanded using function block MC_MoveVelocity_ISD51X (see chapter 6.5.5.7 MC_MoveVe-locity_ISD51x). This functionality can also be used via the LCP (see the Velocity mode section in chapter 4.3.5.1 Servo Drive). InProfile velocity mode, the velocity control loop is used to reach the target velocity (see chapter 7.11.1 Parameter 52-20: TargetVelocity (0x60FF)).Drive mirror mode (0x2016,02)Target velocity (0x60FF) LimitfunctionLimitfunctionTrajectorygeneratord/dtMinimumcomparatorMinimumcomparatorMultiplierMax motor speed (0x6080)Position actual value (0x6064)Max torque (0x6072) Torque limitFeed forwardtorqueVelocity demandvalue (0x6068)Velocity limitquick-stop decelerationApplication torque limit (0x2053)Max acceleration (0x60C5)Max deceleration (0x60C6)Quick-stop deceleration (0x6085)Quick-stop option code (0x605A)130BE847.10Illustration 2.19 Profile Velocity Mode Control FunctionThe usage of acceleration and deceleration for the calculation of the trajectory is shown in Illustration 2.20.Servo Drive Operation VLT® Integrated Servo Drive ISD® 510 System30 Danfoss A/S © 01/2017 All rights reserved. MG36D10222
