S300-S700 CANopen | 5 CANopen Drive Profile
5.6 Profile Velocity Mode (pv) (DS402)
5.6.1 General Information
The profile velocity mode enables the processing of velocity setpoints and the associated accel-
erations.
5.6.2 Objects that are defined in this section
Index Object Name Type Access
606Ch VAR velocity actual value INTEGER32 r
60FFh VAR target velocity INTEGER32 rw
5.6.3 Objects that are defined in other sections
Index Object Name Type Section
6040h VAR control word INTEGER16 dc (➜ # 58)
6041h VAR status word UNSIGNED16 dc (➜ # 60)
6063h VAR position actual value* INTEGER32 pc (➜ # 74)
6083h VAR profile acceleration UNSIGNED32 pp (➜ # 88)
6084h VAR profile deceleration UNSIGNED32 pp (➜ # 88)
6086h VAR motion profile type INTEGER16 pp (➜ # 89)
6094h ARRAY velocity encoder factor UNSIGNED32 fg (➜ # 68)
5.6.4 Object Description
5.6.4.1 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 6094h).
Index 606Ch
Name velocity actual value
Object code VAR
Data type INTEGER32
Mode pv
Access ro
PDO mapping possible
Unit velocity units
Value range (-2
31
) to (2
31
-1)
Default value —
EEPROM no
5.6.4.2 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 6094h).
Index 60FFh
Name target velocity
Object code VAR
Data type INTEGER32
Mode pv
Access rw
PDO mapping possible
Unit increments
Value range (-2
31
) to (2
31
-1)
Default value —
EEPROM no
72 Kollmorgen | kdn.kollmorgen.com | December 2019
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