TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
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<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 50<br />
7.2.1.12 Object 6081 h , 6881 h, and 7081 h: Profile velocity<br />
This object indicates the configured velocity normally attained at the end of the acceleration ramp<br />
during a profiled motion and is valid for both directions of motion. The profile velocity is the<br />
maximum velocity used when driving to a new position. It is given in internal or user specific units<br />
(depending on object 208C h , paragraph 8.1.17)<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6081 h (motor 0)<br />
6881 h (motor 1)<br />
7081 h (motor 2)<br />
Profile velocity Variable UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw Refer to CiA402-3 UNSIGNED32 Depends on the units<br />
7.2.1.13 Object 6083 h , 6883 h, and 7083 h: Profile acceleration<br />
This object indicates the configured acceleration. Object 6083 h sets the maximum acceleration to be<br />
used in profile positioning mode.<br />
Please choose the units for object 6083 h with object 208E h , described in paragraph 8.1.18. Object 208E h<br />
reads 0 when internal units are selected or 179 when user units (PPS/s) are selected.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6083 h (motor 0)<br />
6883 h (motor 1)<br />
7083 h (motor 2)<br />
Profile acceleration Variable UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw Refer to CiA402-3 UNSIGNED32 Depends on the units<br />
7.2.1.14 Object 6084 h , 6884 h, and 7084 h: Profile deceleration<br />
This object indicates the configured deceleration. It sets the maximum deceleration used in profile<br />
positioning mode.<br />
Please choose the units for object 6084 h with object 208E h , described in paragraph 8.1.18. Object 208E h<br />
reads 0 when internal units are selected or 179 when user units (PPS/s) are selected.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6084 h (motor 0)<br />
6884 h (motor 1)<br />
7084 h (motor 2)<br />
Profile deceleration Variable UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw Refer to CiA402-3 UNSIGNED32 Depends on the units<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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