Standardized Device Profile Area (6000 - ABB FCAN-01 User Manual

146 Communication protocol

Standardized device profile area (6000...9FFF)
Index Sub Access
(hex)
603F RO
6040 RW
6041 RO
6042 RW
6043 RO
6044 RO
6046
0 RO
1 RW
2 RW
6048
0 RO
1 RW
2 RW
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
accelera-
tion
U8 Number
of entries
U32 Delta
speed
U16 Delta time
Information
See Appendix B – CANopen error
codes.
See Communication protocol.
Instantaneous velocity provided by the
ramp function. Scaled to the unit of the
vl target velocity.
Actual velocity
Vl velocity min max amount
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, the
function follows the set point (=target
velocity) value.
[rpm]
0...65535 [sec]
Sup-
port
all
all
all
vl
vl
vl
vl
vl
vl
vl
vl
vl
vl
vl