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CANopen Agile 81 06/2010
Objects
9.5.10 0x6049/n Velocity deceleration
Index Sub-Index Meaning Data Type Access Map Def.-Val
0x6049 0 Highest sub-index supported Unsigned8 ro No 2
1 Delta speed (min
-1
) Unsigned32 rw No 0x96
2 Delta time (sec) Unsigned16 rw No 1
The deceleration in velocity mode is set with object
velocity deceleration. The object velocity decelera-
tion consists of delta speed in rpm and delta time in seconds.
The gradient of the frequency in the deceleration period is written to parameters
Deceleration
(clockwise)
421 and
Deceleration (anti-clockwise)
423 (data set 5, all data sets in RAM only !). Both
parameters are set to the same value.
The values of p.421 and p.423 are converted internally to a frequency/sec value, taking into account
the parameter
No. of Pole Pairs
373 (in data set 1 !).
The gradient is changed internally by altering the objects delta time or delta speed.
Parameter Setting
No. Object Min. Max.
0x6049/1 Delta speed (RPM) 1 32767
0x6049/2 Delta time (sec) 1 65535
delta speed
delta time
time
speed
Note:
If objects 0x6049/1 or 0x6049/2 were written and then a save parameters command (Object
0x1010
)
processed, the object values are stored in non volatile memory. After the next power on of the inver-
ter, the previously set values are reactivated and overwrite the settings of Parameters
Deceleration
Clockwise
421 and
Deceleration Anticlockwise
423.
Example:
COB ID CB Index SI Data
Read Request 601 40 49 60 01 00 00 00 00
Response 581 43 49 60 01 96 00 00 00
Write Access 601 23 49 60 01 40 50 00 00
Response 581 60 49 60 01 00 00 00 00
CB: Control byte SI: Sub-Index All values in hexadecimal without leading "0x"
Objects
9.5.11 0x604A/n Velocity quick stop
Index Sub-Index Meaning Data Type Access Map Def.-Val
0x604A 0 Highest sub-index supported Unsigned8 ro No 2
1 Delta speed (min
-1
) Unsigned32 rw No 0x96
2 Delta time (sec) Unsigned16 rw No 1
The quick stop deceleration in velocity mode is set with object
velocity quick stop. Object velocity
quick stop consists of delta speed in RPM and delta time in seconds.
The gradient of the frequency in the deceleration period is written to parameters
Emergency Stop
(clockwise)
424 and
Emergency Stop (anti-clockwise)
425 (data set 5, all data sets in RAM only !).
Both parameters are set to the same value.
The values of p.424 and p.425 are converted internally to a frequency/sec value, taking into account
the parameter
No. of Pole Pairs
373 (in data set 1 !).
The gradient is changed internally by altering the objects delta time or delta speed.
Parameter Setting
No. Object Min. Max.
0x604A/1 Delta speed (min
-1
) 1 32767
0x604A/2 Delta time (sec) 1 65535
delta speed
delta time
time
speed
Note:
If objects 0x604A/1 or 0x604A/2 were written and then a save parameters command (Object
0x1010
)
processed, the object values are stored in non volatile memory. After the next power on of the inver-
ter, the previously set values are reactivated and overwrite the settings of Parameters
Emergency
Stop (clockwise)
424 and
Emergency Stop (anti-clockwise)
425.
Example:
COB ID CB Index SI Data
Read Request 601 40 4A 60 01 00 00 00 00
Response 581 43 4A 60 01 96 00 00 00
Write Access 601 23 4A 60 01 20 50 00 00
Response 581 60 4A 60 01 00 00 00 00
CB: Control byte SI: Sub-Index All values in hexadecimal without leading "0x"