4.11.4.9 Object 6086h: motion profile type (DS402)
The type of acceleration ramp can be selected by this object as a linear or as sin² ramp.
Index 6086
h
Name
motion profile type
Object code
VAR
Data type
INTEGER16
Mode
pp
Access
rw
PDO mapping
possible
Unit
none
Value range
(-2
15
)..(2
15
-1)
Default value
—
EEPROM
yes
profile code profile type
-32768 ... -1 manufacturer-specific (not supported)
0 linear (trapezoidal)
1 sin²
2 ... 32767 profile-specific extensions (not supported)
4.11.4.10 Object 60C5h: Max acceleration
To prevent the motor and the application from being destroyed, the max acceleration can be used
to limit the acceleration to an acceptable value.The max acceleration is given in user defined acce-
leration units (608Dh, 608Eh). It is converted to position increments per s² using the acceleration
factor (6097h).
Index 60C5
h
Name
Max acceleration
Object code
VAR
Data type
UNSIGNED32
Category
optional
Access
rw
PDO mapping
possible
Value range
UNSIGNED32
Default value
no
88 CANopen for S300/S700
CANopen Drive Profile 11/2018 Kollmorgen
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