User Manual

PD42-1270 CANopen
®
Firmware Manual • Firmware Version V3.19 | Document Revision V1.0 • 2017-Mar-02
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7.1.9 Object 6083
h
: Profile Acceleration
This object indicates the configured acceleration. Object 6083
h
sets the maximum acceleration to be used
in profile position and profile velocity mode.
The units for object 6083
h
can be choosen with object 208E
h
, described in section 4.2.17.
In profile velocity mode, this object also sets the deceleration to be used (the deceleration ramp is always
the same as the acceleration ramp in pv mode).
Object Description
Index Name Object Type Data Type
6083
h
Profile Acceleration Variable SIGNED32
Table 276: Object Description (6083
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no SIGNED32 0
Table 277: Entry Description (6083
h
)
7.1.10 Object 6085
h
: Quick Stop Deceleration
This object indicates the configured deceleration used to stop the motor when the quick stop function is
activated and the quick stop code object 605A
h
is set to 2 (or 6). The value is given in the same unit as
profile acceleration object 6083
h
.
Object Description
Index Name Object Type Data Type
6085
h
Quick stop deceleration Variable UNSIGNED32
Table 278: Object Description (6085
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED32 51200
Table 279: Entry Description (6085
h
)
7.1.11 Object 60FF
h
: Target Velocity
This object indicates the configured target velocity and is used as input for the trajectory generator. Object
60FF
h
sets the target velocity when using profile velocity mode. The drive then accelerates or decelerates
to that velocity using the acceleration and deceleration set by objects 6083
h
and 6084
h
. The values are
given in units which can be selected with object 208C
h
, described in section 4.2.16.
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