User Manual

TMCM-1240 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03
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The sixPoint ramp can be configured using the following objects:
Parameter Name Object Index
Start velocity (V
START
) 2010
h
Acceleration A1 2011
h
Velocity V1 2012
h
Acceleration A2 6083
h
Maximum positioning velocity (V
MAX
) 6081
h
Deceleration D2 6084
h
Deceleration D1 2013
h
Stop velocity V
STOP
6082
h
Wait time WAIT 2015
h
Table 2: sixPoint Ramp Parameters
Setting the velocity V1 (object 2012
h
) to zero switches off the sixPoint ramp. In this case, a trapezoidal
ramp defined by the parameters V
START
, A2, V
MAX
, D2 and V
STOP
will be used.
Note
The sixPoint ramp will only be used in profile positioning mode (pp mode). Profile
velocity mode (pv mode) will always use a trapezoidal ramp, defined just by the
acceleration (object 6083
h
), the speed given using object 60FF
h
and the start and
stop speed (objects 2010
h
and 6082
h
). The deceleration parameters will not be
used in pv mode.
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