12.5.34
0x6086/0 Motion profile type
Index Sub-index
Meaning
Data type Access Map Def.-Val
0x6086
0
Motion profile type
Integer16
rw
No
3
Object works in:
•
o
Profile Positioning mode
o
Profile Velocity mode
o
Interpolated mode
o
Move away from Limit Switch
o
Electronic Gear: Slave
Object doesn’t work in:
•
o
Velocity mode
o
Homing mode
o
Cyclic Sync Position
mode
o
Cyclic Sync Velocity
mode
o
Table Travel record mode
•
Non motion Control (conf.
≠
x40)
Object 0x6086
motion profile type defines the ramp behaviour for accelera-
tion/deceleration.
Supported values for
motion profile type:
0 - linear ramp
3 - jerk limited ramp
In mode 3 “jerk limited ramp”, the ramp uses the parameters:
-
Ramp Rise Time
1176
-
Ramp Fall Time
1178
•
The Ramp Rise/Fall time in
Table travel record mode is defined via parameters
1205 and 1207.
•
The Ramp Rise/Fall time in
Homing mode is defined via parameter 1135.
•
The Ramp Rise/Fall time in
Velocity mode and in Non-Motion Control configura-
tions
is defined via parameters 430…433.
•
The Ramp Rise/Fall times in these modes are independent of the settings of
object 0x6086.
96
CM-EtherCAT
07/13