User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01
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Object Description
Index Name Object Type Data Type
6048
h
vl Velocity Acceleration Record vl acceleration deceleration
Table 240: Object Description (6048
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
0 Highest sub-index supported ro no 2 2
1 Delta speed rw no UNSIGNED32 1000
2 Delta time ro no UNSIGNED16 1
Table 241: Entry Description (6048
h
)
7.1.8 Object 6049
h
: vl Velocity Deceleration
This object indicates the configured delta speed and delta time of the slope of the deceleration ramp. As
on the PD42-1140 module the deceleration ramp is always the same as the acceleration ramp this object
is a read-only object and always reads the same values as object 6048
h
.
Object Description
Index Name Object Type Data Type
6049
h
vl Velocity Deceleration Record vl acceleration deceleration
Table 242: Object Description (6049
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
0 Highest sub-index supported ro no 2 2
1 Delta speed ro no UNSIGNED32 1000
2 Delta time ro no UNSIGNED16 1
Table 243: Entry Description (6049
h
)
7.2 How to move a Motor in vl Mode
• If you do not have any limit switches connected, first disable the limit switch inputs by writing 3 to
object 2005
h
.
• Select vl mode by writing 2 to object 6060
h
.
• Write 6 to object 6040
h
to switch to READY_TO_SWITCH_ON state.
• Write 7 to object 6040
h
to switch to SWITCHED_ON state.
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