Applied Motion ST10-C-CE - Manual (Page 53)

53 920-0025 Rev K
3/5/2015
CANopen User Manual
0x607F max_profile_speed
This object configures the maximum speed allowed in either direction in a move profile.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED32 rw yes No 0
This object is given the same unit as the objects velocity_value_calculated (index 0x606C)
and profile_velocity (0x60FF).
0x6081 P2P_profile_velocity
This object shall configure the velocity normally attained at the end of the acceleration
ramp during a profiled move and is valid for both directions of motion. This object sets the ve-
locity value except the velocity parameter in Profile velocity mode (pv).
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED32 rw yes No 0
This object is given the same unit as the objects velocity_value_calculated (index 0x606C)
and profile_velocity (0x60FF).
0x6083 profile_acceleration
This object shall configure the acceleration ramp in a profiled move.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED32 rw yes No 0
The value transmitted to (or read from) the drive should be multiplied by 6 (divided by 6) to
change to rps/s unit.
e.g.: To set the acceleration to 100 rps/s, the value transmit to the drive should be 600.
0x6084 profile_deceleration
This object shall configure the deceleration ramp in a profiled move.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED32 rw yes No 0
The value transmitted to (or read from) the drive should be multiplied by 6 (divided by 6) to
change to rps/s unit.
e.g.: To set the deceleration to 100 rps/s. the value transmitted to the drive should be 600.