The time period is checked to ensure that it is an integer multiple of the control loop
cycle time. Only linear interpolation is currently supported. This type inserts a delay of
one interpolation time period.
The input buffer has a maximum size of 1 data record, and a data record contains one
position in profile-defined units. The buffer is a FIFO buffer. Every interpolator time
period, a value is read from this buffer. The correct number of data points for a specific
interpolation mode are stored internally. When a new position command is loaded in, the
oldest position command in the data set is discarded.

7.5

vl velocity mode

Velocity mode is supported on Unidrive SP, Digitax ST, Affinity, Mentor MP and
Commander SK. It is not, however, supported in regen modes. This mode uses the
drive’s speed handling and ramps.

When the attached drive is in either of the closed-loop or servo operating modes the
scaled velocity is written to the drive internal speed shortcut. When the attached drive is
in an open-loop operating mode the scaled velocity is written to the user preset
reference parameter (Pr 1.21). Table 7.36 lists the objects that are supported:

7.5.1

0x6042 vl_target_velocity

This object is used to set the required velocity of the system. It is multiplied by the
vl_dimension_factor and the vl_setpoint_factor. The value is given in rpm, If the
vl_dimension_factor has the value of 1, otherwise the value is in user units. Positive
values indicate forward direction and negative values indicate reverse direction.

Table 7.36 vl velocity mode supported objects

Index

Name

0x6042

vl_target_velocity

0x6043

vl_velocity_demand

0x6044

vl_velocity_actual_value

0x6046

vl_velocity_min_max_amount

0x6047

vl_velocity_min_max

0x6048

vl_velocity_accleration

0x6049

vl_velocity_deceleration

0x604A

vl_velocity_quick_stop

0x604B

vl_setpoint_factor

0x604C

vl_dimension_factor

Table 7.37 vl_target_velocity

0x6042

vl_target_velocity

Access: RW

Range: -32768 to +32767

Size: Signed 16

Unit: rpm

Default:

Description:

Used to set the required velocity of the system.