Ethernet/IP Communications | 7 Drive Objects
Attribute 0x07: Target Velocity
Non-Volat-
ile
Yes
See Also N/A
Attribute 0x08: Acceleration
Description This attribute specifies the acceleration for positioning and homing (HOME.ACC) when in pos-
ition opmode and the acceleration for constant velocity (DRV.ACC) when in velocity opmode.
Units are determined by the amplifier setup (ACCUNIT, Position controller attributes 40-41) All
position moves initiated through a Command Assembly or Command Block Object use this
acceleration rate. To set different acceleration rates for multiple motion blocks (tasks) requires
the motion block to be setup using the amplifier setup software.
Access
Rule
Get / Set
Data Type Double Integer
Range Set to a positive number
Default According to setup
Non-Volat-
ile
Yes
See Also N/A
Attribute 0x09: Deceleration
Description This attribute specifies the deceleration for positioning and homing (DECR) when in position
opmode and the acceleration for constant velocity (DEC) when in velocity opmode. Units are
determined by amplifier setup (ACCUNIT, Position controller attributes 40-41) All position
moves initiated through a Command Assembly or Command Block Object use this decel-
eration rate. To set different deceleration rates for multiple motion blocks (tasks) requires the
motion block to be setup using the amplifier setup software.
Access
Rule
Get / Set
Data Type Double Integer
Range Set to a positive number
Default According to setup
Non-Volat-
ile
Yes
See Also N/A
Attribute 0x0A: Move Type
Description This bit is used to define the position value as either absolute or incremental in
DRV.OPMODE 2.
Access Rule Get / Set
Data Type Boolean
Range 0 = Absolute Postion
1 = Incremental Position
22 Kollmorgen | December 2014
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