The CiA 402 operating mode "3 - speed operation" is available for the MovingCap rotary actuators in order to achieve operation at a constant speed with adjustable acceleration and deceleration ramps.
CiA 402 Standard parameters Velocity Mode
Index |
Subindex |
Type |
Access |
Name [Units] |
Description |
6060h |
0h |
integer8 |
R/W |
modes of operation |
3 = Profile Velocity Mode / constant speed operation |
6040h |
0h |
unsigned16 |
R/W |
Controlword |
Activation of speed operation via the CiA 402 operating status: |
6083h |
0h |
unsigned32 |
R/W |
profile acceleration |
Acceleration value as for positioning mode |
6084h |
0h |
unsigned32 |
R/W |
profile deceleration |
Braking value as for positioning mode |
60FFh |
0h |
integer32 |
R/W |
target velocity |
Target velocity |
*1) Unless position units/scaling is set differently, the unit used is revolutions/minute.
Example CiA 402 speed operation
To test CiA 402 speed operation, the following RefGo command sequence can be executed via the web interface or terminal/TCP connection:
RefGo Command OW6060,0,3 --> modes of operation = 3 Velocity Mode
RefGo Command OW60FF,0,1000 --> target velocity
RefGo Command OW6040,0,6 --> shutdown
RefGo Command OW6040,0,7 --> switch on
RefGo Command OW6040,0,15 --> switch on + enabled
The drive now accelerates up to the specified target speed (60FFh.0h target velocity).
