CANopen Programmer's Manual - Maccon.de

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7: Profile Position, Velocity, and Torque Mode Operation CANopen Programmer’s Manual TRAJECTORY JERK LIMIT INDEX 0X2121 Type Access Units Range Map PDO Memory Unsigned 32 RW 100 counts / sec 3 0 – 100,000,000 YES RF Description This object defines the maximum jerk (rate of change of acceleration) for use with S-curve profile moves. Other profile types do not use the jerk limit. TRAJECTORY GENERATOR STATUS INDEX 0X2252 Type Access Units Range Map PDO Memory Integer 16 RO - See Description, below. YES - Description This variable gives status information about the trajectory generator. It is bit-mapped as follows: Bit Description 0-10 Reserved for future use. 11 Homing error. If set an error occurred in the last home attempt. Cleared by a home command. 12 Referenced. Set if a homing command has been successfully executed. Cleared by a home command. 13 Homing. Set when the amplifier is running a home command. 14 Set when a move is aborted. This bit is cleared at the start of the next move. 15 In motion bit. If set, the trajectory generator is presently generating a profile. TRAJECTORY GENERATOR DESTINATION POSITION INDEX 0X2122 Type Access Units Range Map PDO Memory Integer 32 RO counts - YES - Description The position that the trajectory generator uses as its destination. Mostly useful when driving the amplifier using the pulse & direction inputs. TARGET POSITION INDEX 0X607A Type Access Units Range Map PDO Memory Integer 32 RW counts - YES RF Description When running in position profile mode, this object defines the destination of the trajectory generator. The object’s meaning varies with the move type, as set in Motion Profile Type (index 0x6086, p. 205): Move Type Meaning Relative Move distance. Absolute Target position. Velocity Direction: 1 for positive, -1 for negative. Note that the target position programmed here is not passed to the internal trajectory generator until the move has been started or updated using the Control Word. See Profile Position Mode Operation, p. 191, for more information. 202 Copley Controls
CANopen Programmer’s Manual 7: Profile Position, Velocity, and Torque Mode Operation PROFILE VELOCITY INDEX 0X6081 Type Access Units Range Map PDO Memory Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF Description In profile position mode, this value is the velocity that the trajectory generator will attempt to achieve. Note that the value programmed here is not passed to the internal trajectory generator until the move has been started or updated using the Control Word. See Profile Position Mode Operation, p. 191, for more information. TARGET VELOCITY INDEX 0X60FF Type Access Units Range Map PDO Memory Integer 32 RW 0.1 counts/sec -500,000,000 - 500,000,000 YES R Description In profile velocity mode, this object is an input to the amplifier’s internal trajectory generator. Any change to the target velocity triggers an immediate update to the trajectory generator. Note that this is different from the way the profile position works. In that mode, changing the trajectory input parameters doesn't affect the trajectory generator until bit 4 of the Control Word object (index 0x6040, p. 58) has been changed from 0 to 1. TARGET TORQUE INDEX 0X6071 Type Access Units Range Map PDO Memory Integer 16 RW rated torque/1000 -32,768 - 32,767 YES RF Description In profile torque mode, this object is an input to the amplifier’s internal trajectory generator. Any change to the target torque triggers an immediate update to the trajectory generator. TORQUE COMMAND INDEX 0X6074 Type Access Units Range Map PDO Memory Integer 16 RO rated torque/1000 -32,768 - 32,767 YES RF Description Output value of the torque limiting function. MOTOR RATED TORQUE INDEX 0X6076 Type Access Units Range Map PDO Memory Integer 32 RW 0.001 Nm 0 - 32,767 YES RF Description Motor’s rated torque (see motor name plate or documentation). TORQUE ACTUAL VALUE INDEX 0X6077 Type Access Units Range Map PDO Memory Integer 16 RO rated torque/1000 -32,768 - 32,767 YES RF Description Instantaneous torque in the motor. Copley Controls 203
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