User Manual

TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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Object Description
Index Name Object Type Data Type
60A4
h
Profile Jerk Array UNSIGNED32
Table 271: Object Description (60A4
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
0 Highest sub-index supported ro no 4 4
1 Profile jerk 1 rw no 0. . . 16777215 0
2 Profile jerk 2 rw no 0. . . 16777215 0
3 Profile jerk 3 rw no 0. . . 16777215 0
4 Profile jerk 4 rw no 0. . . 16777215 0
Table 272: Entry Description (60A4
h
)
7.1.14 Object 60FF
h
: Target Velocity
This object indicates the configured target velocity and is used as input for the trajectory generator. Object
60FF
h
sets the target velocity when using profile velocity mode. The drive then accelerates or decelerates
to that velocity using the acceleration and deceleration set by objects 6083
h
and 6084
h
. The values are
given in units which can be selected with object 208C
h
, described in section 4.2.35.
Object Description
Index Name Object Type Data Type
60FF
h
Target Velocity Variable SIGNED32
Table 273: Object Description (60FF
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 SIGNED32 0
Table 274: Entry Description (60FF
h
)
7.2 How to move a Motor in pv Mode
Here is a little example that shows how to get a motor running in pv mode. In this little example we assume
that the module has been reset (and then switched to pre-operational or operational) 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
.
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