Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 53)

920-0025 Rev K

3/5/2015

CANopen User Manual

0x607F max_prole_speed

This object congures the maximum speed allowed in either direction in a move prole.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED32 rw yes No 0

This object is given the same unit as the objects velocity_value_calculated (index 0x606C)

and prole_velocity (0x60FF).

0x6081 P2P_prole_velocity

This object shall congure the velocity normally attained at the end of the acceleration

ramp during a proled move and is valid for both directions of motion. This object sets the ve-

locity value except the velocity parameter in Prole velocity mode (pv).

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED32 rw yes No 0

This object is given the same unit as the objects velocity_value_calculated (index 0x606C)

and prole_velocity (0x60FF).

0x6083 prole_acceleration

This object shall congure the acceleration ramp in a proled move.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED32 rw yes No 0

The value transmitted to (or read from) the drive should be multiplied by 6 (divided by 6) to

change to rps/s unit.

e.g.: To set the acceleration to 100 rps/s, the value transmit to the drive should be 600.

0x6084 prole_deceleration

This object shall congure the deceleration ramp in a proled move.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED32 rw yes No 0

The value transmitted to (or read from) the drive should be multiplied by 6 (divided by 6) to

change to rps/s unit.

e.g.: To set the deceleration to 100 rps/s. the value transmitted to the drive should be 600.

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Applied-motion ST10-C-CE Manual do Utilizador Página 53