Kollmorgen AKD-CC, Руководство по установке

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AKD EtherCAT | 5 Appendix
5.3.66 Object 6081h: Profile velocity (DS402)
The profile velocity is the final velocity that should be reached after the acceleration phase of
a motion task.
Index 6081h
Name profile velocity, MT.V
Object code VAR
Data type UNSIGNED32
Mode pp
Access R/W
PDO mapping possible
Unit speed units
Value range 0 to (2
32
-1)
Default value 10
5.3.67 Object 6083h: Profile acceleration (DS402)
The acceleration ramp (profile acceleration) is given in units that are defined by the user (pos-
ition units per s²).The position units are scaled via the objects 6091 and 6092. This object is
connected to the AKD-parameter DRV.ACC in the Profile Velocity Mode and to the motion
task parameter MT.ACC in all other modes.
Index 6083h
Name profile acceleration, MT.ACC (DRV.ACC in Profile Velocity Mode)
Object code VAR
Data type UNSIGNED32
Mode pp, pv
Access R/W
PDO mapping possible
Unit acceleration units
Value range 0 to (2
32
-1)
Default value 0
5.3.68 Object 6084h: Profile deceleration (DS402)
The braking/deceleration ramp is handled in the same way as the acceleration ramp (" Object
6083h: Profile acceleration (DS402)" (
➜
p. 142)).
Index 6084h
Name profile deceleration, MT.DEC (DRV.DEC in Profile Velocity Mode)
Object code VAR
Data type UNSIGNED32
Mode pp, pv
Access R/W
PDO mapping possible
Unit deceleration units
Value range 0 to (2
32
-1)
Default value 0
142 Kollmorgen | kdn.kollmorgen.com | October 2017