Control Techniques Nidec SI-EtherCAT User Manual page 109

Figure 7-13 Profile position setpoint example (CHANGE SETPOINT IMMEDIATELY = 0)
In addition to the common supported objects, the following Profile Position mode specific objects
are supported:
Table 7-88 Profile Position mode supported mode specific objects
Index Name
0x6067 Position window
0x6068 Position window time
0x606B Velocity demand value
0x606C Velocity actual value
0x607B Position range limit
0x607D Software position limit
0x6081 Profile velocity
0x6083 Profile acceleration
0x60A4 Profile jerk
0x60C5 Max acceleration
0x60F2 Positioning option code
0x60FA Control effort
The object descriptions are for those objects unique to this profile, all other objects are detailed
elsewhere in this document.
SI-EtherCAT User Guide
109