Infranor XtrapulsPac - Page 122

122
X
trapulsPac – User Guide
Chapter 3 - Referenc
e
Index 0x6084
Name Profile Deceleration
Object Code VAR
Data Type Unsigned32
Object Class pp
Access rw
PDO Mapping No
Unit User acceleration unit
Value Range -
Default Value 0x10000
Index 0x6086
Name Motion Profile Type
Object Code VAR
Data Type Integer16
Object Class pp, sm
Access rw
PDO Mapping No
Value Range 0 -> Trapezoidal profile
-1 -> S-Curve
Default Value 0
The S-curve is defined by a polynomial. The acceleration profile is therefore parabolic.
Index 0x6067
Name Postion Window
Object Code VAR
Data Type Unsigned32
Object Class pp
Access rw
PDO Mapping No
Unit User Position Unit
Default Value 0
The Position Window defines a symmetrical range of accepted positions relatively to the target position. If the
motor current position is within the position window, this target position is considered as reached (bit 10 or status
word - Target Reached – is set). If the position window value is 0, the position window control is not active.
When the actual position is within the Position Window during the defined Position Window Time, the
corresponding bit 10 Target reached in the StatusWord will be set at 1.
Speed
Acceleration
Time