Baumuller b maxx BM4400 - profile velocity Conversion

Application Manual POWERLINK Controlled Node
Document no. 5.13013.04 Baumüller Nürnberg GmbH
64 of 80
profile velocity 0x6081 f P0602 PPosSetSpeed1 P0602 f 0x6081 Only in case of changes in option
module G/H configuration 1

bit 2 = 1: 
Indication of the desired driving
speed of the motion task in UU e.g.
1/100°/s for rotations. s  ms
[1/1000].
In case limit values of b maXX 4000
parameters has exceeded , the
minimum and maximum values are
set without transmitting an error
message.
x = 0 .. 2
32
-1 f y = x x = 1 .. 13200 f y = x
profile acceleration 0x6083 f P0603 PPosAcceleraton0 P0603 f 0x6083 Only in case of changes in option
module G/H configuration 1

bit 2 = 1:
starting/braking acceleration of the
motion task indicated in UU e.
g.
10°/s
2
for rotations. s
2
 ms
2
[1/1000000].
In case limit values of b maXX 4000
parameters has exceeded , the
minimum and maximum values are
set without transmitting an error
message.
x = 0 .. 2
32
-1 f y = x x = 25 .. 45000 f y = x
profile deceleration 0x6084 f P0604 PPosDeceleraton0 P0604 f 0x6084
x = 0 .. 2
32
-1 f y = x x = 25 .. 45000 f y = x
quick_stop_deceleration 0x6085 f P1213 PPosStopDeceleraton P1213 f 0x6085
x = 0 .. 2
32
-1 f y = x x = 25 .. 45000 f y = x
motion profile type 0x6086 f P1190 PPosMode P1190 f 0x6086
x = -2
15
... 2
15
- 1 x = 0 .. 2
16
- 1
Manufacturer specific x = -2
15
... -1 not used
Linear ramp (trapezoidal
profile)
x = 0 f Bit 3 and Bit 4 Trapezium Bit 3 and Bit 4 f y = 0 Velocity profile in the controller:
bit 4 bit 3:
0 0: trapezoidal
1 0: Sin²
0 1: S-curve
1 1: reserved
Sin
2
ramp x = 1 f Bit 3 and Bit 4 Sin
2
Bit 3 and Bit 4 f y = 1
Jerk-free ramp x = 2 f Bit 3 and Bit 4 S curve Bit 3 and Bit 4 f y = 2
Jerk-limited ramp x = 3 not used
For future profile type x = 4 .. 2
15
- 1 not used
position_encoder_
resolution
0x608F 0x608F Only used in case of changes in
option module G/H configuration 1

bit 14 = 1.
encoder_increments SIX 0x01 f P2172 PosResEncIncDS402 P2172 f SIX 0x01
x = 0 .. 2
32
- 1 f y = x x = 0 .. 2
32
- 1 f y = x
motor_revolutions SIX 0x02 f P2173 PosResMotRevDS402 P2173 f SIX 0x02
x = 0 .. 2
32
- 1 f y = x x = 0 .. 2
32
- 1 f y = x
CANopen object Index
Value range
f P. no.
Scaling
Controller parameters P. no.
Value range
f Index 
re-scaling
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