User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 55
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4.4.1.7 Object 6048
h
: vl Velocity Acceleration
This object indicates the configured delta speed and delta time of the slope of the acceleration ramp as
shown in the following figure. Object 6048
h
provides the acceleration used in velocity mode. This value is
also used for the deceleration. The value of the delta speed is given in internal or in user units (rpm/s).
 


Figure 4.13 Transfer characteristic of the velocity
acceleration
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6048
h
vl velocity acceleration
Record
vl acceleration deceleration
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Highest sub-index supported
c
Refer to CiA402-3
02
h
2
01
h
Delta speed
rw
Refer to CiA402-3
UNSIGNED32
1000
02
h
Delta time
ro
Refer to CiA402-3
UNSIGNED16
1msec
4.4.1.8 Object 6049
h
: vl Velocity Deceleration
This object contains the same value as set in object 6048
h
. A separate declaration value is not supported.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6049
h
vl velocity deceleration
Record
vl acceleration deceleration
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Highest sub-index supported
c
Refer to CiA402-3
02
h
2
01
h
Delta speed
ro
Refer to CiA402-3
UNSIGNED32
Depends on the units
02
h
Delta time
ro
Refer to CiA402-3
UNSIGNED16
10msec
4.4.2 How to Move a Motor in vl Mode
Here is a little example that shows how to get a motor running in vl mode. In this little example we
assume that the module has been reset (and then switched to start) by NMT commands before.
- 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.
- Write 15 to object 6040
h
to switch to OPERATION_ENABLED state.
- Write the desired target speed (e.g. 500) to object 6042
h
. The motor now accelerates to that
speed.
- Stop the motor by writing 0 to object 6042
h
.
time
velocity
delta_time
delta_speed