Applied Motion ST10-C-CE - Manual (Page 67)

67 920-0025 Rev K
3/5/2015
CANopen User Manual
Figure 16: Profile Velocity Mode
Table 23: Profile Velocity Mode Example
Graph Point Target Speed Halt Bit Drive command to Motor
Start 0 1 Motor stopped
A V1 1 -> 0 Motor accelerates to speed V1
B V1 0 -> 1 Motor decelerates to stopped
C V1 1 -> 0 Motor accelerates to V1
D V1 -> V2 0 Motor accelerates from V1 to V2
E V2 -> 0 0 Motor decelerates from V2 to 0
F 0 0 -> 1 Motor remains stopped
G 0 -> V1 1 Motor remains stopped