Profile Velocity Mode (Pv) (Ds402); General Information; Objects That Are Defined In This Section; Objects That Are Defined In Other Sections - Kollmorgen AKD User Manual

7.6 Profile Velocity Mode (pv) (DS402)

7.6.1 General Information

The profile velocity mode enables the processing of velocity setpoints and the associated accelerations.

7.6.1.1 Objects that are defined in this section

Index Object Name
606Ch VAR velocity actual value
60FFh VAR target velocity

7.6.1.2 Objects that are defined in other sections

Index Object Name
6040h VAR control word
6041h VAR status word
6063h VAR position actual value* INTEGER32
6083h VAR profile acceleration
6084h VAR profile deceleration

7.6.2 Object description

7.6.2.1 Object 606Ch: Velocity actual value (DS402)

The object velocity actual value represents the actual speed.
Index 606Ch
Name velocity actual value, VL.FB
Object code VAR
Data type INTEGER32
Mode pv
Access R/O
PDO mapping possible
Unit velocity units (SDO is in user units and the PDO is in RPM
31
Value range (-2 ) to (2
Default value —
EEPROM no
Type
INTEGER32
INTEGER32
Type
INTEGER16
UNSIGNED16 dc (=> p. 91)
UNSIGNED32 pp (=> p. 116)
UNSIGNED32 pp (=> p. 116)
31
-1)
AKD CANopen | 7 CANopen Drive Profile
Access
R/O
R/W
Section
dc (=> p. 90)
pc (=> p. 103)
Kollmorgen™ | November 2012 99