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) 51<br />
7.2.1.15 Object 6085 h , 6885 h, and 7085 h: Quick stop deceleration<br />
This object indicates the configured deceleration used to stop the motor when the quick stop function<br />
is activated and the quick stop code object 605A h is set to 2 [or 6]. The value is given in the same<br />
unit as profile acceleration object 6083 h . Object 6085 h defines the deceleration that is to be used<br />
during a quick stop operation.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6085 h (motor 0)<br />
6885 h (motor 1)<br />
7085 h (motor 2)<br />
Quick stop<br />
deceleration<br />
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 />
7.2.1.16 Object 6086 h , 6886 h, and 7086 h: Motion profile type<br />
This object indicates the configured type of motion profile used to perform a profiled motion. Set<br />
this object to 0 for trapezoid ramps and to 1 for S-shaped ramps.<br />
VALUE DEFINITION<br />
Value Definition<br />
0 Linear ramp, trapezoidal profile<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6086 h (motor 0)<br />
6886 h (motor 1)<br />
7086 h (motor 2)<br />
Motion profile type Variable UNSIGNED16<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw Refer to CiA402-3 0 0<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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