S300-S700 CANopen | 5 CANopen Drive Profile
5.11.4.6 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 6097sub1&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
Object code VAR
Data type UNSIGNED32
Mode pp
Access rw
PDO mapping possible
Unit acceleration units
Value range 0 to (2
32
-1)
Default value 0
5.11.4.7 Object 6084h: Profile deceleration (DS402)
The braking/deceleration ramp is handled in the same way as the acceleration ramp (see Object
6083h).
Index 6084h
Name profile deceleration
Object code VAR
Data type UNSIGNED32
Mode pp
Access rw
PDO mapping possible
Unit acceleration units
Value range 0 to (2
32
-1)
Default value 0
5.11.4.8 Object 6085h: Quick stop deceleration
The quick stop deceleration is the deceleration used to stop the motor if the ‘Quick Stop’ com-
mand is given. The units are the same as for the profile acceleration ramp and the profile decel-
eration ramp.
Index 6085h
Name Quick stop deceleration
Object code VAR
Data type UNSIGNED32
Mode pp
Access rw
PDO mapping possible
Unit acceleration units
Value range 0 to (2
32
-1)
Default value -
88 Kollmorgen | kdn.kollmorgen.com | December 2019
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