Control Techniques Nidec SI-EtherCAT User Manual page 88

7.5.7 0x6049 vl_velocity_deceleration
This object is used to configure the delta speed and delta time of the slope of the deceleration
ramp.
Example: To decelerate by 800 rpm in 10 s, possible values for delta speed and delta time are
8000 and 100 respectively.
vl_velocity_deceleration = delta speed / delta time
Table 7-61 0x6049 vl_velocity_deceleration
0x6049 vl_velocity_deceleration
Sub-index 0
Access: RO
Default: 2
PDO Mappable: No
Motion Profiles: VL
Description: The number of sub-indices in this object.
Sub-index 1
Access: RW
Default: 1000
PDO Mappable: RxPDO
The value of delta speed is given in rpm if the vl_dimension_factor and the vl_setpoint_factor
Description:
have the value 1, otherwise the value is in user units.
Sub-index 2
Access: RW
Default: 2
PDO Mappable: RxPDO
Description: The value of delta time is given in seconds.
88
Range: N/A
32
Range: 0 to 2 -1
Range: 0 to 65535
Size: 1 byte
Type: Unsigned integer / USINT
Update rate: N/A
Size: 4 bytes
Type: Unsigned integer / UDINT
Background sync with Pr 02.021
Size: 2 bytes
Type: Unsigned integer / UINT
Background sync with Pr 02.021
Unit: N/A
Unit: rpm
Unit: seconds
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