7.6 Profile Velocity Mode (pv) (DS402) 99
7.6.1 General Information 99
7.6.1.1 Objects that are defined in this section 99
7.6.1.2 Objects that are defined in other sections 99
7.6.2 Object description 99
7.6.2.1 Object 606Ch: Velocity actual value (DS402) 99
7.6.2.2 Object 60FFh: Target velocity (DS402) 100
7.7 Profile Torque Mode (tq) (DS402) 101
7.7.1 General Information 101
7.7.1.1 Objects that are defined in this section 101
7.7.1.2 Objects that are defined in other sections 101
7.7.2 Object description 101
7.7.2.1 Object 2071h: Target Current 101
7.7.2.2 Object 2077h: Current ActualValue 101
7.7.2.3 Object 6071h: Target torque (DS402) 102
7.7.2.4 Object 6073h: Max current (DS402) 102
7.7.2.5 Object 6077h: Torque actual value (DS402) 102
7.8 Position Control Function (pc) (DS402) 103
7.8.1 General Information 103
7.8.1.1 Objects that are defined in this section 103
7.8.1.2 Objects that are defined in other sections 103
7.8.2 Object Description 103
7.8.2.1 Object 6063h: position actual value* (DS402) 103
7.8.2.2 Object 6064h: position actual value (DS402) 104
7.8.2.3 Object 6065h: Following error window 104
7.8.2.4 Object 60F4h: Following error actual value (DS402) 104
7.9 Interpolated Position Mode (ip) (DS402) 105
7.9.1 General information 105
7.9.1.1 Objects defined in this section 105
7.9.1.2 Objects defined in other sections 105
7.9.2 Object description 105
7.9.2.1 Object 60C0h: Interpolation sub mode select 105
7.9.2.2 Object 60C1h: Interpolation data record 106
7.9.2.3 Object 60C2h: Interpolation time period 107
7.9.2.4 Object 60C4h: Interpolation data configuration 108
7.10 Homing Mode (hm) (DS402) 110
7.10.1 General information 110
7.10.1.1 Objects that are defined in this section 110
7.10.1.2 Objects that are defined in other sections 110
7.10.2 Object Description 110
7.10.2.1 Object 607Ch: Homing offset (DS402) 110
7.10.2.2 Object 6098h: Homing method (DS402) 110
7.10.2.3 Object 6099h: Homing speeds (DS402) 112
7.10.2.4 Object 609Ah: Homing acceleration (DS402) 112
7.10.2.5 Homing Mode Sequence 113
7.11 Profile Position Mode (DS402) 114
AKD CANopen | Table of Contents
6 Kollmorgen™ | November 2012
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