Baumuller b maxx BM4400 - vl_target_velocity Conversion

Application Manual POWERLINK Controlled Node
Document no. 5.13013.04 Baumüller Nürnberg GmbH
56 of 80
vl_target_velocity 0x6042 f P1179 RFG1Input32 P1179 f 0x6042 The user-defined unit (speed units)
is interpreted in the b maXX 4000
controller as rpm.
In case of changes in „Option mod-
ule G/H configuration 1"
bit 2 = 1:
Internal set value for the speed in
1/10
rpm, same unit as object
0x6042,
e. g.: 200.0 revolutions per min 
input 2000.
x = -32768 .. 32767 f y = x *
0x40000000/
MotorMaxSpeed
x = -2
31
.. 2
31
-1 f y = x*Motor
MaxSpeed/
0x40000000
vl_velocity_demand 0x6043 /ro SpeedSetValue P0351 f 0x6043
x = -2
31
.. 2
31
-1 f y = x*Motor
MaxSpeed/
0x40000000
vl_control_effort 0x6044 /ro SpeedActValue P0353 f 0x6044
x = -2
31
.. 2
31
-1 f y = x*Motor
MaxSpeed/
0x40000000
vl_manipulated_velocity 0x6045 /ro SpeedSetValueTotal P0352 f 0x6045
x = -2
31
.. 2
31
-1 f y = x*Motor
MaxSpeed/
0x40000000
vl_velocity_min_max_
amount
0x6046
vl_velocity_min_amount SIX. 0x01 - - - f SIX 0x01 SIX. 1 is always zero, the minimum
limit is set at zero.
x = 0 f y = x
vl_velocity_max_amount SIX. 0x02 f P1042 / P1041 SpeedSet_LLim / Speed-
Set_ULim
P1042/
P1041
f SIX 0x02 The maximum limit has a symmetri-
cal effect on both directions of rota-
tion in the b maXX 4000.
The user-defined unit (speed units)
is interpreted in the b maXX 4000
cotroller as rpm
x = 0 .. 0xFFFFFFFF f y = x *
0x40000000/
MotorMaxSpeed
P1041: x = 0 .. 0x40000000
P1042: x = 0xC0000000 .. 0
f y = x*Motor
MaxSpeed/
0x40000000
vl_pole_number 0x604D f P0065 MotorPolePairs P0065 f 0x604D
x = 0 .. 255 f y = x / 2 x = 1..120 f y = x*2
vl_ramp_function_time 0x604F f P1172 RFG1RampUpTime P1172 f 0x604F Ramp function generator
ramp function time
(1 = 1/1000 s  1s = 1000). 
The resolution is 10 ms
x = 0 .. 0xFFFFFFFF f x = 0 .. 65000 f
vl_slow_down_time 0x6050 f P1173 RFG1RampDownTime P1173 f 0x6050
x = 0 .. 0xFFFFFFFF f x = 0..65000 f
vl_quick_stop_time 0x6051 f P1174 RFG1StopTime P1174 f 0x6051
x = 0 .. 0xFFFFFFFF f x = 0..65000 f y = x
CANopen object Index
Value range
f P. no.
Scaling
Controller parameters P. no.
Value range
f Index 
re-scaling
Comment