User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01
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Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 13 0
Table 73: Entry Description (2085
h
)
4.2.11 Object 2086
h
: Pulse Divisor
Use this object to define the pulse divisor when internal units are selected for velocity and acceleration.
Writing to this object is only possible in SWITCHED_ON_DISABLED state. The velocity pre-scaler should be
decremented or incremented carefully (in steps of one).
Object Description
Index Name Object Type Data Type
2086
h
Ramp Divisor Variable UNSIGNED8
Table 74: Object Description (2086
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 13 0
Table 75: Entry Description (2086
h
)
4.2.12 Object 2087
h
: Maximum Velocity
The functionality of this object depends on the unit selection (refer to object 208C
h
).
• If internal units are selected this object will be set to the fixed value of 2047 and cannot be changed.
• If user units are selected the maximum velocity (RPM or PPS) that is to be used must be set here. A
lower value in this object leads to a better accuracy of the unit conversion.
This value can only be changed when the drive is in SWITCHED_ON_DISABLED state.
Object Description
Index Name Object Type Data Type
2087
h
Ramp Divisor Variable UNSIGNED32
Table 76: Object Description (2087
h
)
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