Speed Control Mode; State Machine Of The Operating Mode "Speed Control - TR-Electronic MP-Series Benutzerhandbuch

6.3 Speed control mode

The movement of the drive can be controlled at a parameterized speed in this
operating mode. The encoTRive indicates that the target speed has been reached.
The encoTRive is in position control when stationary.
An additional jog mode enables direct travel depending on two direction bits in the
control word.
To give a new velocity during already activated speed control, an additional edge
change in control word bit 6 is not required. If a new velocity value is transferred to the
encoTRive (Parameter 201, velocity), the velocity is active immediately.

6.3.1 State machine of the operating mode "Speed control"

Various internal states are assumed (SBx). These states and the transitions (TBx)
between these states are defined in the PROFIDrive profile. The same conventions
apply in the following Figure 11 as in the general state machine Figure 8. In "Speed
control" mode, state SB1 is assumed after state transition TA4. State transition TA5
leads to state SA5 from any of the states in Figure 11.
Printed in the Federal Republic of Germany
06/06/2019 TR - EMO - BA - DGB - 0019 - 08
 TR-Electronic GmbH 2008, All Rights Reserved
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