BECKHOFF AX2000 CANopen communication profile - Manual (Page 91)

4.14 Profile Velocity Mode (pv) (DS402)
4.14.1 General Information
The profile velocity mode enables the processing of velocity setpoints and the associated acceler-
ations.
4.14.2 Objects that are defines in this section
Index Object Name Type Access
606C h VAR velocity_actual_value INTEGER32 ro
60FF h VAR target_velocity INTEGER32 rw
4.14.3 Objects that are defines in other sections
Index Object Name Type Section
6040 h VAR control word INTEGER16 dc ( Þ 4.4)
6041 h VAR status word UNSIGNED16 dc ( Þ 4.4)
6063 h VAR position_actual_value* INTEGER32 pc ( Þ 4.15)
6083 h VAR profile_acceleration UNSIGNED32 pp ( Þ 4.17)
6084 h VAR profile_deceleration UNSIGNED32 pp ( Þ 4.17)
6086 h VAR motion_profile_type INTEGER16 pp ( Þ 4.17)
6094 h ARRAY velocity_encoder_factor UNSIGNED32 fg ( Þ 4.5)
4.14.4 Object Description
4.14.4.1 Object 606Ch: velocity_actual_value* (DS402)
The Object velocity_actual_value represents the actual speed. The scaling of the value depends on
the factor velocity_encoder_resolution (Object 6096
h
).
Index 0x606C h
Name velocity_actual_value
Object code VAR
Data type INTEGER32
Mode pv
Access ro
PDO mapping possible
Unit velocity units
Value range (-2 31 ) ... (2 31 -1)
Default value —
EEPROM no
CANopen for AX2000/2500 91
BECKHOFF
07/2007
CANopen Drive Profile