Data Sheet

Copyright © Roboteq Inc. 2018. All Rights Reserved. 22
3.18 0X6084 - PROFILE DECELERATION (PP)
Table 35 gives a short description of the object.
TABLE 35 - PROFILE DECELERATION
Sub-Index
00
Optional
Y
Type
U32
Access
RW
PDO
R
Value Range
Default
MDEC(20000)
RoboCommand
PAC
Description
This object shall indicate the configured deceleration, in
(RPM*10)/second.
3.19 0X6087 - TORQUE SLOPE (TQ)
Table 36 gives a short description of the object.
TABLE 36 - PROFILE DECELERATION
Sub-Index
00
Optional
CND
Type
U32
Access
RW
PDO
R
Value Range
Default
MAC(20000)
RoboCommand
TSL
Description
This object shall indicate the configured rate of change of torque, in
(mAmperes*10)/second.
3.20 0X60FF - TARGET VELOCITY (PV)
Table 37 gives a short description of the object.
TABLE 37 - TARGET VELOCITY
Sub-Index
00
Optional
CND
Type
U32
Access
RW
PDO
R
Value Range
Default
0
RoboCommand
S
Description
This object shall indicate the configured target velocity, in RPM, and
shall be used as input for the trajectory generator.
3.21 0X6502 - SUPPORTED DRIVE MODES
Table 38 gives a short description of the object.