5.11.4.9 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 6086h
Name Motion Profile Type
Object code VAR
Data type INTEGER16
Mode pp
Access rw
PDO mapping possible
Unit none
Value range -2
15
to (2
15
-1)
Default value -
EEPROM yes
Profile Code Profile Type
-32768 ... -1 manufacturer specific (not supported)
0 linear (trapezoidal)
1 sin²
Value 2 ... 32767 profile-specific extensions (not supported)
5.11.4.10 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
acceleration units (608Dh, 608Eh). It is converted to position increments per s² using the accel-
eration factor (6097h).
Index 60C5h
Name Max acceleration
Object code VAR
Data type UNSIGNED32
Category Optional
Access rw
PDO mapping possible
Value range UNSIGNED32
Default value -
S300-S700 CANopen | 5 CANopen Drive Profile
Kollmorgen | kdn.kollmorgen.com | December 2019 89
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