Infranor XtrapulsPac - Page 123

123
X
trapulsPac - User Guide
Chapter 3 – Reference
Index 0x6068
Name Position Window Time
Object Code VAR
Data Type Unsigned16
Object Class pp
Access rw
PDO Mapping Possible
Unit Milliseconds
Value Range 0...32767
Default Value 0
Index 0x607F
Name Max Profile Velocity
Object Code VAR
Data Type Unsigned32
Object Class pv, pp, sm
Access rw
PDO Mapping Yes
Unit User Velocity Unit
Value Range 0...(2
32
–1)
Default Value 0
The Max. Profile Velocity is the maximum speed allowed in any direction during a profiled move.
This parameter limits the input velocity reference in:
profile position mode (0x6081),
profile velocity mode (0x60FF),
profile position function block and profile velocity function block in servo mode.
Position Profile Speed Modulation Input Source
Index 0x3081
Name Position Profile Speed Modulation Input Source
Description Index/sub-index of input data
Data Type Unsigned32
Object Class sm, pp, sq
Access rw
PDO Mapping No
Default Value 0
Value See below
This object allows connecting any dataflow as a speed modulation of the Profile generator in Profile Position
Mode or Profile Generator Function Block in Servo Mode or Sequence Mode.
The structure of the entries is the following:
MSB LSB
Index (16-bit) Sub-index (8-bit) 0
The modulation value is between 0 and 0x7FFF. A modulation value of 0x7FFF means 100 % of the programmed
velocity.
If the input source value is negative, then the modulation value is the absolute value.
Example:
0x3081,0 = 0x30830000
connects 0x3083 as the modulation speed for Profiles Position.