Technical Manual N5 (CANopen)
6 Operating modes
Activation
After the mode is selected in object 6060
h
(Modes Of Operation) and the "Power State machine" (see
"CiA 402 Power State Machine") is switched to Operation enabled, the motor is accelerated to the
target speed in object 60FF
h
(see following figures). The speed and acceleration values are taken into
account here; for jerk-limited ramps, the jerk-limit values are also taken into account.
Limitations in the jerk-limited case
The following figure shows the adjustable limits in the jerk-limited case (6086
h
= 3).
AccelerationJerk
Speed
Profile velocity (60FF
h
)
t
t
t
Max. acceleration (60C5
h
)
Begin acceleration
jerk (60A4
h
:1)
End deceleration
jerk (60A4
h
:4)
Max. deceleration (60C6
h
)
Profile acceleration (6083
h
)
Profile deceleration (6084
h
)
Velocity window (606D
h
)
Velocity window (606D
h
)
Begin deceleration
jerk (60A4
h
:3)
End acceleration
jerk (60A4
h
:2)
Limitations in the trapezoidal case
This figure shows the adjustable limitations for the trapezoidal case (6086
h
= 0).
Version: 2.0.1 / FIR-v1650 66
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