Delta EtherCAT CMM-EC03 - Page 61

EtherCAT Communication Card: CMM-EC02/ CMM-EC03
CMM-EC02/ CMM-EC03 Operation Manual
61
Object 6042h：vl target velocity
Index
6042h
Name
vl target velocity
Object Type
Variable
Data Type
INTEGER16
Read-Write Permission
RW
PDO MAPPING
SETTING
Yes
Setting Range
INTEGER16
Factory setting
0
Unit
RPM
This object is a velocity command value under the velocity mode.
Object 6043h：vl velocity demand
Index
6043h
Name
vl velocity demand
Object Type
Variable
Data Type
INTEGER16
Read-Write Permission
RO
PDO MAPPING
SETTING
No
Setting Range
INTEGER16
Unit
RPM
This object is a velocity command calculated by the motor drive under the velocity mode.
Object 6044h：vl velocity actual value
Index
6044h
Name
vl velocity actual value
Object Type
Variable
Data Type
INTEGER16
Read-Write Permission
RO
PDO MAPPING
SETTING
Yes
Setting Range
INTEGER16
Unit
RPM
This object is the actual running speed under the velocity mode.
Object 604Fh：vl ramp function time
Index
604Fh
Name
vl ramp function time
Object Type
Variable
Data Type
UNSIGNED32
Read-Write Permission
RW
PDO MAPPING
SETTING
No
Setting Range
UNSIGNED32
Factory setting
10000
Unit
ms
This object is the time spent when the motor drive accelerates from 0 RPM to 6042h under the
Velocity Mode.