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6. EtherCAT Object Dictionary
Position related Objects will be multiplied by -1 when Position Polarity is 1.
6.5.21 Object 607Fh: Max profile velocity
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
607Fh 0 Max profile velocity U32 RW Yes No 1
∼
2500000 2500000
This object sets Max. allowable velocity.
Whatever it receives value of velocity, controller does not move faster than Max Profile Velocity.
6.5.22 Object 6081h: Profile velocity
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
6081h 0 Profile velocity U32 RW Yes RxPDO 1
∼
2500000 10000
This object sets movement velocity under Profile Position Mode.
6.5.23 Object 6083h: Profile acceleration
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
6083h 0 Profile acceleration U32 RW Yes RxPDO
1000
∼
1000000000
1000000
This object sets acceleration under Profile Position Mode.
Unit is speed of increasing per second [pulse/
s
2
].
6.5.24 Object 6084h: Profile deceleration
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
6084h 0 Profile deceleration U32 RW Yes RxPDO
1000
∼
1000000000
1000000
This object sets deceleration under Profile Position Mode.
Unit is speed of increasing per second [pulse/
s
2
].
6.5.25 Object 6098h: Homing method
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
6098h 0 Homing method I8 RW Yes RxPDO 0
This object sets the method of sensor origin search under Homing Mode.
Homing Mode method is as follow.
Rev.37
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