Profile Velocity Mode (Pv) (Ds402) - Kollmorgen S300 Interface Manual

CANopen Drive Profile
4.6

Profile Velocity Mode (pv) (DS402)

4.6.1 General Information
The profile velocity mode enables the processing of velocity setpoints and the associated accelera-
tions.
4.6.2 Objects that are defined in this section
Index
606C
60FF
4.6.3 Objects that are defined in other sections
Index
6040
6041
6063
6083
6084
6086
6094
4.6.4 Object Description
4.6.4.1 Object 606Ch: velocity actual value (DS402)
The object velocity actual value represents the actual speed. The scaling of the value depends on
the factor velocity encoder resolution (Object 6094
Index
Name
Object code
Data type
Mode
Access
PDO mapping
Unit
Value range
Default value
EEPROM
4.6.4.2 Object 60FFh: target velocity (DS402)
The speed setpoint (target velocity) represents the setpoint for the ramp generator.
The scaling of this value depends on the factor velocity encoder resolution (Object 6094
Index
Name
Object code
Data type
Mode
Access
PDO mapping
Unit
Value range
Default value
EEPROM
72
Object Name
VAR velocity actual value
h
VAR target velocity
h
Object Name
VAR control word
h
VAR status word
h
VAR position actual value*
h
VAR profile acceleration
h
VAR profile deceleration
h
VAR motion profile type
h
ARRAY velocity encoder factor
h
606C
velocity actual value
VAR
INTEGER32
pv
ro
possible
velocity units
(-2
—
no
60FF
target velocity
VAR
INTEGER32
pv
rw
possible
increments
(-2
—
no
11/2018
Type
INTEGER32
INTEGER32
Type
INTEGER16
UNSIGNED16
INTEGER32
UNSIGNED32
UNSIGNED32
INTEGER16
UNSIGNED32
).
h
h
31 31
) ... (2 -1)
h
31 31
) ... (2 -1)
Kollmorgen
Access
r
rw
Section
dc (Þ p.56)
dc (Þ p.56)
pc (Þ p.74)
pp (Þ p.84)
pp (Þ p.84)
pp (Þ p.84)
fg (Þ p.62)
CANopen for S300/S700
).
h