0x230B Secondary velocity value
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
3.1.3.4.5 Parameters related to User defined velocity units
0x60A9 SI unit velocity This object defines the velocity value
0x606B Velocity demand value Output of position controller in position mode/trajectory generator in
velocity mode.
0x606C Velocity actual value Provides the value read at the velocity sensor (or the derivation of the
position signal).
0x606D Velocity window This value reflects each side of the target velocity.
0x606F Velocity threshold Configures the velocity that is considered zero velocity.
0x6080 Max motor speed Sets the maximum allowed speed for the motor in either direction.
0x6081 Profile velocity Configures the velocity target for the end of the acceleration ramp during
profiled motion.
0x6083 Profile acceleration Configures the acceleration used during profiled motion.
0x6084 Profile deceleration Configures the deceleration used during profiled motion.
0x6085 Quick stop deceleration Deceleration used for stopping the motor when quick stop function is activated.
0x609A Homing acceleration Configures the acceleration and deceleration to be used during a homing operation.
0x60B1 Velocity offset Sets a feed-forward velocity as input to the velocity controller.
0x60FA Control effort Provides a measure of the control effort (the output of the position control loop).
0x60FF Target velocity Sets the target velocity and will be used as input to the trajectory generator.
0x230B Secondary velocity value Calculated velocity value of encoder configured as “Feedback display only”.
0x2010 Torque Controller Values Kp, Ki and Kd for Torque Controller
0x2012 Position Controller Values Kp, Ki and Kd for Cascaded Position Controller (Both loops: Position
and Velocity)
0x2013 Gain Scheduling Parameters needed for Gain Scheduling
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