Emerson SM-ETHERCAT 0471-0128-02 - Manual (Page 43)

SM-EtherCAT User Guide
43
Issue Number: 2 www.controltechniques.com
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7.5.5 0x6047 vl_velocity_min_max
This object is used to configure the minimum and maximum velocity.
The value is given in rpm if the vl_dimension_factor has the value of 1, otherwise the
value is in user units.
7.5.6 0x6048 vl_velocity_acceleration
This object is used to configure the delta speed and delta time of the slope of the
acceleration ramp.
Example: To ramp to 1000 rpm in 5s, possible values for delta speed and delta time
are 10000 and 50 respectively.
vl_velocity_acceleration = delta speed / delta time
Table 7.41 0x6047 vl_velocity_min_max
0x6047 vl_velocity_min_max
Sub-index 0
Access: RO Range: N/A Size: Unsigned 8 Unit: N/A
Default: 4
Description: The number of last sub-indexes in this object.
Sub-index 1
Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm
Default: 0
Description: Used to configure the minimum positive velocity at which the system can operate.
Sub-index 2
Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm
Default: 2147483647
Description: Used to configure the maximum positive velocity at which the system can operate.
Sub-index 3
Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm
Default: 0
Description: Used to configure the minimum negative velocity at which the system can operate.
Sub-index 4
Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm
Default: 2147483647
Description: Used to configure the maximum negative velocity at which the system can operate.
Table 7.42 0x6048 vl_velocity_acceleration
0x6048 vl_velocity_acceleration
Sub-index 0
Access: RO Range: N/A Size: Unsigned 8 Unit: N/A
Default: 2
Description: The number of last sub-indexes in this object.
Sub-index 1
Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm
Default: 1000
Description: The value of delta speed is given in rpm if the vl_dimension_factor and the
vl_setpoint_factor have the value 1, otherwise the value is in user units.
Sub-index 2
Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: s
Default: 2
Description: The value of delta time is given in seconds.