RoboteQ CANBus Series User Manual

CANBus Networking Manual 51
SDO Description
In Profile Velocity Mode the operation specific bits are mapped in Table 4-18. With bits 10
and 12 user can acknowledge the status of the controller as shown in Table 4-15 and Table
4-19. Bit 13 is always 0.
TABLE 4-19. Definition of bit 12 in Profile Velocity Mode
Bit Value Definition
12
0 Speed is not equal 0
1 Speed is equal 0
0x6042 - VL Target Velocity
Table 20 gives a short description of the object.
TABLE 4-20. Target Velocity
Sub-Index 00 Optional N Type S16 Access RW PDO R
Value Range Default 0
RoboCommand S
Description This object shall indicate the required velocity of the system in RPM.
Positive values shall indicate forward direction and negative values
shall indicate reverse direction.
0x6043 - VL Velocity Demand
Table 21 gives a short description of the object.
TABLE 4-21. Velocity Demand
Sub-Index 00 Optional N Type S16 Access RO PDO T
Value Range Default
RoboCommand RMP
Description This object shall provide the instantaneous velocity in RPM generated
by the ramp function. It is an internal object of the drive device. Pos-
itive values shall indicate forward direction and negative values shall
indicate reverse direction.
0x6044 - VL Velocity Actual Value
Table 4-22 gives a short description of the object.
TABLE 4-22. Velocity Actual Value
Sub-Index 00 Optional N Type S16 Access RO PDO T
Value Range Default
RoboCommand RMP
Description This object shall provide the velocity in RPM at the motor spindle
or load. Depending on the implementation (simple drive device,
without sensor, with sensor, etc.), the drive shall provide the ap-
propriate image of the actual velocity derived for example from
velocity demand or a sensor signal.

RoboteQ CANBus Series Specifications

General

Brand	RoboteQ
Model	CANBus Series
Category	Controller
Language	English