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42 SM-EtherCAT User Guide
www.controltechniques.com Issue Number: 2
7.5.2 0x6043 vl_velocity_demand
This read only object provides the instantaneous velocity demand generated by the
drive ramp function. The value is given in rpm if the vl_dimension_factor and the
vl_setpoint_factor have the value 1, otherwise the value is in user units. Positive values
indicate forward direction and negative values indicate reverse direction.
7.5.3 0x6044 vl_velocity_actual_value
This read only object provides the velocity at the motor spindle or load. In a closed loop
system this is determined from the motor feedback device and in an open loop system it
is a copy of vl_velocity_demand.
The value is given in rpm if the vl_dimension_factor has the value of 1, otherwise the
value is in user units. Positive values indicate forward direction and negative values
indicate reverse direction.
7.5.4 0x6046 vl_velocity_min_max_amount
This object is used to configure the minimum and maximum velocity.
The value is given in rpm if the vl_dimension_factor has the value of 1, otherwise the
value is in user units.
Table 7.38 vl_velocity_demand
0x6043 vl_velocity_demand
Access: RO Range: -32768 to +32767 Size: Signed 16 Unit: rpm
Default: 0
Description: Provides the instantaneous velocity demand generated by the drive ramp function
Table 7.39 vl_velocity_actual_value
0x6044 vl_velocity_actual_value
Access: RO Range: -32768 to +32767 Size: Signed 16 Unit: N/A
Default: 0
Description: Provides the velocity at the motor spindle or load.
Only available when in vl_velocity_mode.
Table 7.40 vl_velocity_min_max_amount
0x6046 vl_velocity_min_max_amount
Sub-index 0
Access: RO Range: N/A Size: Unsigned 8 Unit: N/A
Default: 2
Description: The number of last sub-indexes in this object.
Sub-index 1
Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm
Default: 0
Description: Used to configure the minimum velocity (both in the forward and reverse direction) that the
system can operate at. Writing to this sub index will overwrite vl_velocity_min positive and
vl_velocity_min negative.
Sub-index 2
Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm
Default: 2147483647
Description: Used to configure the maximum velocity (both in the forward and reverse direction) that the
system can operate at. Writing to this sub index will overwrite vl_velocity_max positive and
vl_velocity_max negative.