CANopen Programmer's Manual - Maccon.de

7: Profile Position, Velocity, and Torque Mode Operation CANopen Programmer’s Manual
TORQUE SLOPE INDEX 0X6087
Type Access Units Range Map PDO Memory
Integer 32 RW rated
torque/1000/second
Positive integer values YES RF
Description
Torque acceleration or deceleration.
TORQUE PROFILE TYPE INDEX 0X6088
Type Access Units Range Map PDO Memory
Integer 16 RW -- 0-0 YES RF
Description
Type of torque profile used to perform a torque change. Set to zero to select trapezoidal profile.
PROFILE ACCELERATION INDEX 0X6083
Type Access Units Range Map PDO Memory
Integer 32 RW 10 counts/sec 2
0 - 200,000,000 YES RF
Description
In profile position mode, this value is the acceleration that the trajectory generator attempts to
achieve. For S-curve moves, this value is also used to decelerate at the end of the move.
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.
PROFILE DECELERATION INDEX 0X6084
Type Access Units Range Map PDO Memory
Integer 32 RW 10 counts/sec 2
0 - 200,000,000 YES RF
Description
Deceleration that the trajectory generator uses at the end of a trapezoidal profile when running in
position profile mode.
Note that this value is only used when running trapezoidal or profile position special velocity mode
profiles. The S-curve profile generator uses the Profile Acceleration object (index 0x6083, p. 204)
as the acceleration target for both the start and end of moves.
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.
204 Copley Controls