Table of Contents
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Object Ref.
(0x)
6041
6042
6043
6044
vl_velocity_actual_value
vl_velocity_min_max_
(Number of last sub-index)
vl_velocity_min_max_
6046
(Minimum velocity (rpm))
vl_velocity_min_max_
(Maximum velocity (rpm))
vl_velocity_acceleration
(Number of last sub-index)
vl_velocity_acceleration
6048
(Delta speed value (rpm))
vl_velocity_acceleration
(Delta time value (s))
vl_velocity_deceleration
(Number of last sub-index)
vl_velocity_deceleration
6049
(Delta speed value (rpm))
vl_velocity_deceleration
(Delta time value (s))
vl_velocity_quick_stop
(Number of last sub-index)
vl_velocity_ quick_stop
604A
(Delta speed value (rpm))
vl_velocity_ quick_stop
(Delta time value (s))
(Number of last sub-index)
604B
(Number of last sub-index)
604C
24
Description
Status word
vl_target_velocity
vl_velocity_demand
amount
amount
amount
vl_setpoint_factor
vl_setpoint_factor
(Numerator)
vl_setpoint_factor
(Denominator)
vl_dimension_factor
vl_dimension_factor
(Numerator)
vl_dimension_factor
(Denominator)
Data Type
Sub-index
Type
0
UINT
0
INT
0
INT
0
INT
0
USINT
1
UDINT
2
UDINT
0
USINT
1
UDINT
2
UINT
0
USINT
1
UDINT
2
UINT
0
USINT
1
UDINT
2
UINT
0
USINT
1
INT
2
INT
0
USINT
1
INT
2
INT
Profile
RO
Y
Y
Y
Y
RW
Y
N
N
N
RO
Y
N
N
N
RO
Y
N
N
N
RO
Y
N
N
N
RW
Y
N
N
N
RW
Y
N
N
N
RO
Y
N
N
N
RW
Y
N
N
N
RW
Y
N
N
N
RO
Y
N
N
N
RW
Y
N
N
N
RW
Y
N
N
N
RO
Y
N
N
N
RW
Y
N
N
N
RW
Y
N
N
N
RO
Y
N
N
N
RW
Y
N
N
N
RW
Y
N
N
N
RO
Y
N
N
N
RW
Y
N
N
N
RW
Y
N
N
N
SI-EtherCAT User Guide
Issue Number: 2
Y
Y
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
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