User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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7.1.5 Object 6083
h
: Profile Acceleration
This object indicates the configured acceleration. Object 6083h sets the maximum acceleration to be used
in profile positioning mode, and profile velocity mode.
Object Description
Index Name Object Type Data Type
6083
h
Profile Acceleration Variable UNSIGNED32
Table 129: Object Description (6083
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Profile Acceleration no 0 100000 2000 [rpm/s] RW
Table 130: Entry Description (6083
h
)
7.1.6 Object 60FF
h
: Target Velocity
This object indicates the configured target velocity and is used as input for the trajectory generator. Object
60FFh 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 6083h and 6084h.
Object Description
Index Name Object Type Data Type
60FF
h
Target Velocity Variable SIGNED32
Table 131: Object Description (60FF
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Target Velocity yes -200000 200000 0 [rpm] RW
Table 132: Entry Description (60FF
h
)
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