Elmomc CANopen DSP 402 Implementation Guide Instrukcja Użytkownika Pobierz pdf (Strona 104)

Object 0x606C: Velocity actual value

This object is represented in velocity units and is coupled with the velocity used as input

to the velocity controller. The object is taken from either the position sensor or the

velocity sensor. In UM=5 (single position loop), this object reflects the load and the motor

value; in UM=4 (dual loop), object 0x606A determines which sensor is reflected.

 Object description:

Index 606Ch

Name Velocity actual value

Object code VAR

Data type INTEGER32

Category Mandatory

 Entry description:

Access Read only

PDO mapping Yes

Value range INTEGER32

Default value No

Object 0x606D: Velocity window

This object monitors whether the required process velocity has been achieved after an

eventual acceleration or deceleration (braking) phase. It is given in velocity units.

 Object description:

Index 606Dh

Name Velocity window

Object code VAR

Data type UNSIGNED16

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED16

Default value No

CANopen DSP 402 Implementation Guide

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Elmomc CANopen DSP 402 Implementation Guide Instrukcja Użytkownika Strona 104