Infranor XtrapulsGem User Manual

134
X
trapulsPac – User Guide
Chapter 3 - Referenc
e
This sub-index contains the position reference in IP mode.
Sub Index 2
Description Second parameter of ip function
Data Type Integer32
Object Class ip
Access rw
PDO Mapping Possible
This sub-index contains the speed reference in IP mode if the interpolation submode select (0x60C0) is -1
(interpolation PV). Otherwise it is not used.
Absolute 16-bit Position Reference for IP mode
Index 0x3350
Name Absolute 16-bit Position Reference
Object Code VAR
Data Type Unsigned8
Object Class ip
Access rw
PDO Mapping No
Value Range 0..1
Default Value 0
The position reference in interpolated position mode can be defined as 16-bits only. This is to reduce the bus
traffic.
When in 16-bit mode (object 3350h = 1), the position reference in object 60C1-1 via PDO is set at 16 bits and the
drive calculates the upper word. At the beginning, it is necessary to set the upper word with object 60C1-1 via
SDO (Integer32). The mapping of RPDO must be changed to object 60C1 sub-index 1 with 16-bit length.
3.2.3.6 - Profile Velocity Mode
Profile Velocity Mode
The profile velocity mode authorizes the drive to operate with a velocity reference. Only speed loop and current
loop are closed in this mode.
Index Object Name Type Attr.
0x606B VAR Velocity Demand Value Integer32 ro
0x606C VAR Velocity Actual Value Integer32 ro
0x306C VAR Actual Velocity Filter Unsigned16 rw
0x3069 VAR Velocity Actual Value (rpm) Integer32 ro
0x60FF VAR Target Velocity Integer32 rw
0x6083 VAR Profile Acceleration Unsigned32 rw
0x6084 VAR Profile Deceleration Unsigned32 rw
0x606D VAR Velocity Window Unsigned16 rw
0x606E VAR Velocity Window Time Unsigned16 rw
0x606F VAR Velocity Threshold Unsigned16 rw
0x6070 VAR Velocity Threshold Time Unsigned16 rw
0x30FF VAR Target Velocity Source Unsigned16 rw
time
Speed
Target Velocity
Profile
Acceleration
Profile
Deceleration

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English