Emerson SI-EtherCAT User Manual page 59

7.5.1 Activate velocity mode redirection
This object provides the facility to redirect the velocity mode reference from the normal velocity
mode object (0x6402) to the cyclic sync velocity mode object (0x60FF).
Table 7-42 Activate velocity mode redirection
0x3008 Activate velocity mode redirection
Sub-index 0
Access: RW
Default: 0
Redirects the velocity mode reference from object 0x6042 to object 0x60FF.
Normally object 0x60FF is the reference for csv mode and object 0x6042 is the
reference for velocity mode. Activating this object means that object 0x60FF will
be used as the reference for velocity mode.
Description:
Units are RPM in the range -32768 to 32767.
This object value change will take effect on a CiA402 transition from "Ready to
switch on" to "Switched on".
7.5.2 0x6042 vl_target_velocity
This object is used to set the required velocity of the system. It is multiplied by the
vl_dimension_factor and the vl_setpoint_factor. The value is given in rpm, If the
vl_dimension_factor has the value of 1, otherwise the value is in user units. Positive values indicate
forward direction and negative values indicate reverse direction.
Table 7-43 vl_target_velocity
0x6042 vl_target_velocity
Sub-index 0
Access: RW
Default: 0
Description: Used to set the required velocity of the system.
7.5.3 0x6043 vl_velocity_demand
This read only object provides the instantaneous velocity demand generated by the drive ramp
function. The value is given in rpm if the vl_dimension_factor and the vl_setpoint_factor have the
value 1, otherwise the value is in user units. Positive values indicate forward direction and negative
values indicate reverse direction.
Table 7-44 vl_velocity_demand
0x6043 vl_velocity_demand
Sub-index 0
Access: RO
Default: 0
Description: Provides the instantaneous velocity demand generated by the drive ramp function.
SI-EtherCAT User Guide
Issue Number: 2
Range: 0 to 1
Range: -32768 to
+32767
Range: -32768 to
+32767
Size: 1 byte
Type: USINT
Size: Signed 16
Type: INT
Size: Signed 16
Type: INT
Unit: N/A
Unit: rpm
Unit: rpm
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