User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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9.1.10 Object 6081
h
: Profile Velocity (pp)
This object indicates the configured velocity normally attained at the end of the acceleration ramp during
a profiled motion and is valid for both directions of motion. The profile velocity is the maximum velocity
used when driving to a new position.
Object Description
Index Name Object Type Data Type
6081
h
Profile Velocity (pp) Variable UNSIGNED32
Table 182: Object Description (6081
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Profile Velocity no 0 200000 0 [rpm] RW
Table 183: Entry Description (6081
h
)
9.1.11 Object 6082
h
: End Velocity
This object indicates the configured velocity normally attained at the end of the deceleration ramp during
a profiled motion and is valid for both directions of motion. The end velocity is the velocity used when
reaching the new position.
Object Description
Index Name Object Type Data Type
6082
h
End Velocity Variable SIGNED32
Table 184: Object Description (6082
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 End Velocity no -200000 200000 0 [rpm] RW
Table 185: Entry Description (6082
h
)
9.1.12 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.
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