User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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6.1.14 Object 6083
h
: Profile Acceleration
This object indicates the configured acceleration. Object 6083
h
sets the maximum acceleration to be used
in profile position and profile velocity mode.
The units for object 6083
h
can be choosen with object 208E
h
, described in section 4.2.17.
In profile velocity mode, this object also sets the deceleration to be used (the deceleration ramp is always
the same as the acceleration ramp in pv mode).
Object Description
Index Name Object Type Data Type
6083
h
Profile Acceleration Variable SIGNED32
Table 234: Object Description (6083
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no SIGNED32 0
Table 235: Entry Description (6083
h
)
6.1.15 Object 6084
h
: Profile Deceleration
This object indicates the configured deceleration. Object 6084
h
sets the maximum deceleration to be used
in profile positioning mode.
The units for object 6084
h
can be choosen with object 208E
h
, described in section 4.2.17.
Object Description
Index Name Object Type Data Type
6084
h
Profile Deceleration Variable SIGNED32
Table 236: Object Description (6084
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no SIGNED32 0
Table 237: Entry Description (6084
h
)
6.1.16 Object 6085
h
: Quick Stop Deceleration
This object indicates the configured deceleration used to stop the motor when the quick stop function is
activated and the quick stop code object 605A
h
is set to 2 (or 6). The value is given in the same unit as
profile acceleration object 6083
h
.
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