User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01
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6.1.14 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 4.2.16.
Object Description
Index Name Object Type Data Type
6083
h
Profile Acceleration Variable SIGNED32
Table 216: Object Description (6083
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no SIGNED32 0
Table 217: Entry Description (6083
h
)
6.1.15 Object 6084
h
: Profile Deceleration
This object indicates the configured deceleration. On the PD42-1140 module the deceleration ramp is
always the same as the acceleration ramp. For this reason this object is a read-only object and always
reads the same value as object 6083
h
.
Object Description
Index Name Object Type Data Type
6084
h
Profile Deceleration Variable SIGNED32
Table 218: Object Description (6084
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no SIGNED32 0
Table 219: Entry Description (6084
h
)
6.1.16 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
.
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