BECKHOFF AX2000 CANopen communication profile - Manual (Page 100)

4.17.4.4 Object 6083h: profile_acceleration (DS402)
The acceleration ramp (profile_acceleration) is given in units that are defined by the user. The pro-
cessing and interpretation of the acceleration setpoint can be made in two ways:
l Internal gearing factors PGEARI = PGEARO (see Objects 2020
h
08
h
/09
h
, ASCII command
PGEARI/PGEARO)
The acceleration ramp is interpreted as the acceleration time [ms] or rate of acceleration
[incr/s
2
] referred to the target velocity (Object 6081
h
profile_velocity). The scaling for this value
depends on Object 6097
h
acceleration_factor.
Note: only the acceleration time is supported as a unit at present!
l Internal gearing factors PGEARI <> PGEARO (see Objects 2020
h
08
h
/09
h
, ASCII com-
mand PGEARI/PGEARO)
The acceleration ramp is interpreted as the acceleration time [ms] or rate of acceleration
[length units/s
2
] referred to the target velocity. The scaling for this value depends on the gea-
ring factors that are set (see description of the ASCII commands PGEARI and PGEARO) and
the basic unit that is set [ms] or [length unit/s
2
]. The selection of the basic unit is made through
Bit 12 in the control word for the motion task (Object 2022
h
03
h
, ASCII command O_C).
The type of acceleration ramp can be selected as a linear ramp or a sin
2
ramp (see Object 6086
h
).
Index 0x6083 h
Name profile_acceleration
Object code VAR
Data type UNSIGNED32
Mode pp
Access rw
PDO mapping possible
Unit acceleration units
Value range 0 ... (2 15 -1)
Default value 0
4.17.4.5 Object 6084h: profile_adeceleration (DS402)
The braking/deceleration ramp is handled in the same way as the acceleration ramp
(see Object 6083
h
).
Index 0x6084 h
Name profile_deceleration
Object code VAR
Data type UNSIGNED32
Mode pp
Access rw
PDO mapping possible
Unit acceleration units
Value range 0 ... (2
15
-1)
Default value 0
100 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF