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6
Operating modes
V
Ramp generator input
velocity_acceleration_pos (2090
Fig. 6.21
Speed ramps
The object group velocity_ramps is available to parameterise these 4 accelerations. Note that the ob-
jects profile_acceleration and profile_deceleration change the same internal accelerations as the velo-
city_ramps. If the profile_acceleration is written, velocity_acceleration_pos and velocity_ accelera-
tion_neg are changed together; if the profile_deceleration is written, velocity_deceleration_pos and
velocity_deceleration_neg are changed together. The object velocity_ramps_enable determines wheth-
er or not the setpoint values are guided over the ramp generator.
Object 2090
: velocity_ramps
h
Index
Name
Object Code
No. of Elements
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
134
Ramp generator output
velocity_deceleration_pos (2090
_02
)
h
h
2090
h
velocity_ramps
RECORD
5
02
h
velocity_acceleration_pos
INT32
rw
no
–
–
–
_03
h
velocity_acceleration_neg (2090
velocity_deceleration_neg (2090
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
)
h
_04
)
h
h
h
_05
)
h
t
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