PD86-1180 CANopen FW Manual (.pdf) - Trinamic
PD86-1180 CANopen FW Manual (.pdf) - Trinamic
PD86-1180 CANopen FW Manual (.pdf) - Trinamic
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TMCM-<strong>1180</strong> / <strong>PD86</strong>-<strong>1180</strong> <strong>CANopen</strong> Firmware <strong>Manual</strong> (V1.01 / 2011-AUG-01) 50<br />
6.4.1.7 Object 6048 h: vl velocity acceleration<br />
This object indicates the configured delta speed and delta time of the slope of the acceleration ramp<br />
as shown in the following figure. Object 6048 h provides the acceleration used in velocity mode. This<br />
value is also used for the deceleration. The value of the delta speed is given in internal or in user<br />
units (rpm/s).<br />
velocity<br />
delta_time delta_speed<br />
Figure 6.6: Transfer characteristic of the velocity acceleration<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6048 h vl velocity acceleration Record vl acceleration deceleration<br />
ENTRY DESCRIPTION<br />
Sub-Index Description Access PDO Mapping Value Range Default Value<br />
00 h Highest sub-index supported c Refer to CiA402-3 02 h 2<br />
01 h Delta speed rw Refer to CiA402-3 UNSIGNED32 1000<br />
02 h Delta time ro Refer to CiA402-3 UNSIGNED16 1msec<br />
6.4.1.8 Object 6049 h: vl velocity deceleration<br />
This object contains the same value as set in object 6048 h . A separate declaration value is not<br />
supported.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6049 h vl velocity deceleration Record vl acceleration deceleration<br />
ENTRY DESCRIPTION<br />
Sub-Index Description Access PDO Mapping Value Range Default Value<br />
00 h Highest sub-index supported c Refer to CiA402-3 02 h 2<br />
01 h Delta speed rw Refer to CiA402-3 UNSIGNED32 Depends on the units<br />
02 h Delta time ro Refer to CiA402-3 UNSIGNED16 10msec<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG<br />
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