User Manual

TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16
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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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