RoboteQ CANBus Series - 0 X6081 - Profile Velocity (PP); 0 X6083 - Profile Acceleration (PP); 0 X6084 - Profile Deceleration (PP); 0 X6087 - Torque Slope (TQ)

CANBus Networking Manual 55
SDO Description
0x6081 - Profile Velocity (PP)
Table 4-33 gives a short description of the object.
TABLE 4-33. Profile Velocity
Sub-Index 00 Optional CND Type U32 Access RW PDO R
Value Range Default MVEL(1000)
RoboCommand PSP
Description This object shall indicate the configured velocity, in RPM, normally
attained at the end of the acceleration ramp during a profiled motion
and shall be valid for both directions of motion.
0x6083 - Profile Acceleration (PP)
Table 4-34 gives a short description of the object.
TABLE 4-34. Profile Acceleration
Sub-Index 00 Optional CND Type U32 Access RW PDO R
Value Range Default MAC(20000)
RoboCommand PAC
Description This object shall indicate the configured acceleration, in (RPM*10)/
second.
0x6084 - Profile Deceleration (PP)
Table 4-35 gives a short description of the object.
TABLE 4-35. Profile Deceleration
Sub-Index 00 Optional Y Type U32 Access RW PDO R
Value Range Default MDEC(20000)
RoboCommand PAC
Description This object shall indicate the configured deceleration, in (RPM*10)/
second.
0x6087 - Torque Slope (TQ)
Table 4-36 gives a short description of the object.
TABLE 4-36. Profile Deceleration
Sub-Index 00 Optional CND Type U32 Access RW PDO R
Value Range Default MAC(20000)*
RoboCommand TSL
Description This object shall indicate the configured rate of change of torque,
in (miliNm*10)/second.
*As long as the Torque Constant (TNM) is 1000 miliNm/A.