Standardised Device Profile Area Dsp 402 (6000 - ABB FCAN-01 User Manual

124
Standardised device profile area DSP 402 (6000...9FFF)
Index Sub Access
603Fh RO
6040h RW
6041h RO
6042h RW
6043h RO
6044h RO
6046h
0 RO
1 RW
2 RW
6048h
0 RO
1 RW
2 RW
6049h
0 RO
1 RW
2 RW
Communication
Type Name
U16 Error code
U16 Control word
U16 Status word
INT16 Target velocity
INT16 Vl velocity demand
INT16 Vl control effort
Vl velocity min max
amount
U8 Number of entries
U32 Vl velocity min
amount
U32 Vl velocity max
amount
Vl velocity
acceleration
U8 Number of entries
U32 Delta speed
U16 Delta time
Vl velocity decelera-
tion
U8 Number of entries
U32 Delta speed
U16 Delta time
Information
See chapter CANopen error
codes on page 133.
See chapter
Communication profiles on
page 69.
Instantaneous velocity provided
by the ramp function. Scaled to
the unit of the vl target velocity.
See chapter
Communication profiles on
page 69.
Vl velocity min max amount
Default: 2
Mapped internally to vl velocity
min pos and vl velocity max neg
values
Mapped internally to vl velocity
max pos and vl velocity max neg
values
Slope of the acceleration ramp =
delta speed / delta time. If delta
time = 0, function follows the
setpoint (=target velocity) value
Default: 2
[rpm]
0...65536 [sec]
Slope of the deceleration ramp =
delta speed / delta time. If delta
time = 0, function follows the
setpoint (=target velocity) value
Default: 2
[rpm]
0...65536 [sec]
Support
a h p i p p v
l m p p v t l
l
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x