BECKHOFF AX2000 CANopen communication profile - Manual (Page 62)

4.5.2.5 Object 6097h: acceleration_factor (DS402)
The acceleration_factor converts the acceleration [unit: /s
2
] into the internal format of the
AX2000/2500.
At present, the numerator and divisor are read-only. The values are set to 1. If the acceleration_fac-
tor is 1, then the ramp settings (Object 6083
h
profile_acceleration and Object 6084
h
profile_deceler-
ation) will be provided as acceleration times [ms] required to reach the target speed (Object 6081
h
profile_velocity).
Index 0x6097 h
Name acceleration_factor
Object code ARRAY
Number of elements 2
Data type UNSIGNED32
Sub-Indexes:
Sub-index 01 h
Brief description numerator
Mode pp, pv
Access ro
PDO mapping not possible
Unit increments [incr]
Value range 0 ... (2 32 -1)
EEPROM no
Default value 0
Sub-index 02 h
Brief description divisor
Mode pp, pv
Access ro
PDO mapping not possible
Unit —
Value range 0 ... (2
32
-1)
EEPROM no
Default value 0
62 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF