Manual

Copyright © Roboteq Inc. 2018. All Rights Reserved. 16
3.3 0X6042 - VL TARGET VELOCITY
Table 20 gives a short description of the object.
TABLE 20 - TARGET VELOCITY
Sub-Index
00
Optional
N
Type
S16
Access
RW
PDO
R
Value Range
Default
0
RoboCommand
S
Description
This object shall indicate the required velocity of the system in RPM.
Positive values shall indicate forward direction and negative values
shall indicate reverse direction.
3.4 0X6043 - VL VELOCITY DEMAND
Table 21 gives a short description of the object.
TABLE 21 - VELOCITY DEMAND
Sub-Index
00
Optional
N
Type
S16
Access
RO
PDO
T
Value Range
Default
RoboCommand
RMP
Description
This object shall provide the instantaneous velocity in RPM
generated by the ramp function. It is an internal object of the drive
device. Positive values shall indicate forward direction and negative
values shall indicate reverse direction.
3.5 0X6044 - VL VELOCITY ACTUAL VALUE
Table 22 gives a short description of the object.
TABLE 22 - VELOCITY ACTUAL VALUE
Sub-Index
00
Optional
N
Type
S16
Access
RO
PDO
T
Value Range
Default
RoboCommand
RMP
Description
This object shall provide the velocity in RPM at the motor spindle or
load. Depending on the implementation (simple drive device, without
sensor, with sensor, etc.), the drive shall provide the appropriate
image of the actual velocity derived for example from velocity
demand or a sensor signal.