CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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<strong>CANopen</strong> Programmer’s <strong>Manual</strong> 7: Profile Position, Velocity, and Torque Mo<strong>de</strong> Operation<br />
PROFILE VELOCITY INDEX 0X6081<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF<br />
Description<br />
In profile position mo<strong>de</strong>, this value is the velocity that the trajectory generator will attempt to<br />
achieve.<br />
Note that the value programmed here is not passed to the internal trajectory generator until the<br />
move has been started or updated using the Control Word. See Profile Position Mo<strong>de</strong> Operation,<br />
p. 191, for more information.<br />
TARGET VELOCITY INDEX 0X60FF<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW 0.1 counts/sec -500,000,000 - 500,000,000 YES R<br />
Description<br />
In profile velocity mo<strong>de</strong>, this object is an input to the amplifier’s internal trajectory generator. Any<br />
change to the target velocity triggers an immediate update to the trajectory generator.<br />
Note that this is different from the way the profile position works. In that mo<strong>de</strong>, changing the<br />
trajectory input parameters doesn't affect the trajectory generator until bit 4 of the Control Word<br />
object (in<strong>de</strong>x 0x6040, p. 58) has been changed from 0 to 1.<br />
TARGET TORQUE INDEX 0X6071<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW rated torque/1000 -32,768 - 32,767 YES RF<br />
Description<br />
In profile torque mo<strong>de</strong>, this object is an input to the amplifier’s internal trajectory generator. Any<br />
change to the target torque triggers an immediate update to the trajectory generator.<br />
TORQUE COMMAND INDEX 0X6074<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RO rated torque/1000 -32,768 - 32,767 YES RF<br />
Description<br />
Output value of the torque limiting function.<br />
MOTOR RATED TORQUE INDEX 0X6076<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW 0.001 Nm 0 - 32,767 YES RF<br />
Description<br />
Motor’s rated torque (see motor name plate or documentation).<br />
TORQUE ACTUAL VALUE INDEX 0X6077<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RO rated torque/1000 -32,768 - 32,767 YES RF<br />
Description<br />
Instantaneous torque in the motor.<br />
Copley Controls 203
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