Control Techniques Nidec SI-EtherCAT User Manual page 69

Table 7-23 Profile deceleration
0x6084 Profile deceleration
Access: RW
Default: 65536
PDO Mappable: RxPDO
Motion Profiles: IP, CSP, CSV, CST, HM, PP
Description: Provides the deceleration ramp for the positioning modes
IP, CSP. CSV, CST, HM
This object is used to configure the deceleration rate used to stop the motor when the quick stop
function is activated and the quick stop code object
(0x605A) is set to 1 or 5. This object is also used for shutdown when shutdown option code
(0x605B) is set to 1, and for disable operation when disable operation option code (0x605C) is set
to 1. It is also used if the fault reaction code object (0x605E) is 1. The value is given in user defined
acceleration units.
PP
In addition to the above, It also limits the profile deceleration rate during normal profile position
operation. Updated when new Setpoint set (PP)
7.3.11 0x6085 Quick_stop_deceleration
This object is used to configure the deceleration rate used to stop the motor when the quick stop
function is activated and the quick stop code object (0x605A) is set to 2 or 6. The quick stop
deceleration is also used if the fault reaction code object (0x605E) is 2. The value is given in user-
defined acceleration units. This object will not be used for vl velocity mode.
Table 7-24 Quick_stop_deceleration
0x6085 Quick_stop_deceleration
Access: RW
Default: 65536
PDO Mappable: RxPDO
Motion Profiles: IP, CSP, CSV, CST, HM, PP
Description: Quick stop function for the positioning related modes.
To improve the reaction time for using a Quick stop ramp, the parameter 38.002 will be
NOTE
updated in the background with a scaled version of this object under the following
conditions:
• The Motion profile selected is either CSP or IP.
• The Fault reaction option code is configured to use the Quick Stop ramp OR
• The fault reaction code is configured to immediate stop and the Quick Stop option code is
set to use the Quick Stop ramp.
SI-EtherCAT User Guide
32
Range:0 to 2 -1
32
Range: 0 to 2 -1
Size: 4 bytes
Type: Unsigned integer / UDINT
Update Rate: See notes below
Size: 4 bytes
Type: Unsigned integer / UDINT
Update Rate: Value used when Quick Stop
deceleration is triggered
Unit: N/A
Unit: N/A
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