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6
Operating modes
Access
PDO Mapping
Units
Value Range
Default Value
Object 60FF
: target_velocity
h
The object target_velocity is the setpoint specification for the ramp generator.
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
6.6
Speed ramps
If profile_velocity_mode is selected as modes_of_operation, the setpoint ramp is also activated. It is
thus possible to limit a jump-like setpoint value change to a specific speed change per time via the
objects profile_acceleration and profile_deceleration. The controller not only permits specification of
different values for braking deceleration and acceleration, but also differentiation between positive and
negative speed. The following illustration depicts this behaviour:
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
rw
yes
-1
min
-1
0 ... 32768 min
-1
3000 min
60FF
h
target_velocity
VAR
INT32
rw
yes
speed units
–
–
133
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