Kollmorgen AKD series

Object 6081h: profile velocity (DS402)
The profile velocity is the final velocity that should be reached after the acceleration phase of a motion task.
Index 6081h
Name profile velocity, MT.V
Object code VAR
Data type UNSIGNED32
Mode pp
Access R/W
PDO mapping possible
Unit speed units
Value range 0 to (2
32
-1)
Default value 10
Object 6083h: profile acceleration (DS402)
The acceleration ramp (profile acceleration) is given in units that are defined by the user (position units per s²).
They can be transformed with the acceleration factor defined by Object 6097 sub1 & 2. The type of acceleration
ramp can be selected as a linear ramp or a sin² ramp (see Object 6086h).
Index 6083h
Name profile acceleration, MT.ACC
Object code VAR
Data type UNSIGNED32
Mode pp
Access R/W
PDO mapping possible
Unit acceleration units
Value range 0 to (2
32
-1)
Default value 0
Object 6084h: profile deceleration (DS402)
The braking/deceleration ramp is handled in the same way as the acceleration ramp ("Object 6083h: profile accel-
eration (DS402)" (=> p. 116)).
Index 6084h
Name profile deceleration, MT.DEC
Object code VAR
Data type UNSIGNED32
Mode pp
Access R/W
PDO mapping possible
Unit deceleration units
Value range 0 to (2
32
-1)
Default value 0
AKD User Guide |
Kollmorgen | December 2010 116