Kollmorgen S300

4.6 Profile Velocity Mode (pv) (DS402)
4.6.1 General Information
The profile velocity mode enables the processing of velocity setpoints and the associated accelera
-
tions.
4.6.2 Objects that are defined in this section
Index Object Name Type Access
606C
h
VAR velocity actual value INTEGER32 r
60FF
h
VAR target velocity INTEGER32 rw
4.6.3 Objects that are defined in other sections
Index Object Name Type Section
6040
h
VAR control word INTEGER16
dc (Þ p.56)
6041
h
VAR status word UNSIGNED16
dc (Þ p.56)
6063
h
VAR position actual value* INTEGER32
pc (Þ p.74)
6083
h
VAR profile acceleration UNSIGNED32
pp (Þ p.84)
6084
h
VAR profile deceleration UNSIGNED32
pp (Þ p.84)
6086
h
VAR motion profile type INTEGER16
pp (Þ p.84)
6094
h
ARRAY velocity encoder factor UNSIGNED32
fg (Þ p.62)
4.6.4 Object Description
4.6.4.1 Object 606Ch: velocity actual value (DS402)
The object velocity actual value represents the actual speed. The scaling of the value depends on
the factor velocity encoder resolution (Object 6094
h
).
Index 606C
h
Name
velocity actual value
Object code
VAR
Data type
INTEGER32
Mode
pv
Access
ro
PDO mapping
possible
Unit
velocity units
Value range
(-2
31
) ... (2
31
-1)
Default value
—
EEPROM
no
4.6.4.2 Object 60FFh: target velocity (DS402)
The speed setpoint (target velocity) represents the setpoint for the ramp generator.
The scaling of this value depends on the factor velocity encoder resolution (Object 6094
h
).
Index 60FF
h
Name
target velocity
Object code
VAR
Data type
INTEGER32
Mode
pv
Access
rw
PDO mapping
possible
Unit
increments
Value range
(-2
31
) ... (2
31
-1)
Default value
—
EEPROM
no
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