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7.5.4
0x6044 vl_velocity_actual_value
This read only object provides the velocity at the motor spindle or load. In a closed loop system this
is determined from the motor feedback device and in an open loop system it is a copy of
vl_velocity_demand.
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 7-45 velocity_actual_value
0x6044
vl_velocity_actual_value
Sub-index 0
Access: RO
Default:
0
Description:
Provides the velocity at the motor spindle or load.
7.5.5
0x6046 vl_velocity_min_max_amount
This object is used to configure the minimum and maximum velocity.
The value is given in rpm if the vl_dimension_factor has the value of 1, otherwise the value is in
user units.
Table 7-46 vl_velocity_min_max_amount
0x6046
vl_velocity_min_max_amount
Sub-index 0
Access: RO
Default:
2
Description:
The number of sub-indices in this object.
Sub-index 1
Access: RW
Default:
0
Used to configure the minimum velocity (both in the forward and reverse direction) that the
Description:
system can operate at. Writing to this sub index will overwrite vl_velocity_min positive and
vl_velocity_min negative.
Sub-index 2
Access: RW
Default:
2147483647
Used to configure the maximum velocity (both in the forward and reverse direction) that the
Description:
system can operate at. Writing to this sub index will overwrite vl_velocity_max positive and
vl_velocity_max negative.
60
Range: -32768 to
+32767
Range: N/A
Range: 0 to
0xFFFFFFFF
Range: 0 to
0xFFFFFFFF
Size: Signed 16
Type: INT
Size: Unsigned 8
Type: USINT
Size: Unsigned 32
Type: UDINT
Size: Unsigned 32
Type: UDINT
Unit: N/A
Unit: N/A
Unit: rpm
Unit: rpm
SI-EtherCAT User Guide
Issue Number: 2
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