CANopen Programmer's Manual - Maccon.de

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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
CANopen Programmer’s Manual 7: Profile Position, Velocity, and Torque Mode Operation QUICK STOP DECELERATION INDEX 0X6085 Type Access Units Range Map PDO Memory Integer 32 RW 10 counts/sec 2 0 - 200,000,000 YES RF Description Also known as Trajectory Abort Deceleration. This object gives the deceleration value used when a trajectory needs to be stopped as the result of a quick stop command. When a quick stop command is issued, the command velocity is decreased by this value until it reaches zero. This occurs in all position modes (homing, profile position, and interpolated position modes), and for all trajectory generators (trapezoidal and S-curve). Note that unlike most trajectory configuration values, this value is NOT buffered. Therefore, if the value of this object is updated during an abort, the new value is used immediately. Also note that setting this object to zero causes the abort to run with unlimited deceleration. The command velocity is immediately set to zero. MOTION PROFILE TYPE INDEX 0X6086 Type Access Units Range Map PDO Memory Integer 16 RW - See Description, below. YES RF Description This object selects the type of trajectory profile to use when running in profile position mode. The supported values for this object are: Mode Description 0 Trapezoidal profile mode. 3 S-curve profile mode (Jerk limited). -1 Velocity mode. The amplifier will not accept other values. See Profile Position Mode Operation, p. 191, for more information. 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. VELOCITY SENSOR SELECTION INDEX 0X606A Type Access Units Range Map PDO Memory See description RW - 0 YES RF Description This object specifies how actual velocity is measured. Currently, Copley Controls drives support only the use of position encoders for calculation of actual velocity. This should be set to zero. Any value other than zero will return an error. Copley Controls 205
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About this Manual CANopen Programme
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