User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 36
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4.2.1.12 Object 607F
h
: Maximum Profile Velocity
This object indicates the configured maximal allowed velocity in either direction during a profiled motion.
It is the maximum velocity that can be used for positioning. The value is given in internal or user specific
units (depending on object 208C
h
, paragraph 0).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
607F
h
Maximum profile velocity
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
UNSIGNED32
2047
4.2.1.13 Object 6081
h
: Profile Velocity
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. It is given in internal or user specific units (depending on object
208C
h
, paragraph 0)
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6081
h
Profile velocity
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
UNSIGNED32
1000
4.2.1.14 Object 6083
h
: Profile Acceleration
This object indicates the configured acceleration. Object 6083
h
sets the maximum acceleration to be used
in profile positioning mode.
Please choose the units for object 6083
h
with object 208E
h
, described in paragraph 0. Object 208E
h
reads 0
when internal units are selected or 179 when user units (PPS/s) are selected.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6083
h
Profile acceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
UNSIGNED32
1000