ABB FCAN-01, Руководство пользователя

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146 Communication protocol

Standardized device profile area (6000...9FFF)
Index
(hex)
Sub Access Type Name Information Sup-
port
603F RO U16 Error
code See Appendix B – CANopen error
codes .
all
6040 RW U16 Control
word See Communication protocol . all
6041 RO U16 Status
word all
6042 RW INT16 Target
velocity vl
6043 RO INT16 Vl velocity
demand Instantaneous velocity provided by the
ramp function. Scaled to the unit of the
vl target velocity. vl
6044 RO INT16 Vl control
effort Actual velocity vl
6046 Vl velocity
min max
amount Vl velocity min max amount vl
0 RO U8 Number
of entries vl
1 RW U32 Vl velocity
min
amount Mapped internally to vl velocity min
pos and vl velocity max neg values vl
2 RW U32 Vl velocity
max
amount Mapped internally to vl velocity max
pos and vl velocity max neg values vl
6048 Vl velocity
accelera-
tion Slope of the acceleration ramp = delta
speed / delta time. If delta time = 0, the
function follows the set point (=target
velocity) value. vl
0 RO U8 Number
of entries vl
1 RW U32 Delta
speed [rpm] vl
2 RW U16 Delta time 0...65535 [sec] vl