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SM-EtherCAT User Guide 63
Issue Number: 2 www.controltechniques.com
Safety
Information
Introduction
Mechanical
Installation
Electrical
Installation
Getting
Started
Protocols
Drive profile (DSP-402)
support
Advanced
features
Diagnostics
Quick
Reference
Glossary Of
Terms
Index
0x6044
vl_velocity_actual
value
Provides the velocity at the motor spin-
dle or load.
Section 7.5.3 on page 42
0x6046
vl_velocity_min
max_amount
This object is used to configure the mini-
mum and maximum velocity.
Section 7.5.4 on page 42
0x6047
vl_velocity_min
max
This object is used to configure the mini-
mum and maximum velocity.
Section 7.5.5 on page 43
0x6048
vl_velocity
acceleration
This object is used to configure the delta
speed and delta time of the slope of the
acceleration ramp.
Section 7.5.6 on page 43
0x6049
vl_velocity
deceleration
This object is used to configure the delta
speed and delta time of the slope of the
deceleration ramp.
Section 7.5.7 on page 44
0x604A
vl_velocity_quick
stop
This object is used to configure the delta
speed and delta time of the slope of the
deceleration ramp for quick stop.
Section 7.5.8 on page 44
0x604B
vl_setpoint
factor
This object is used to configure the
numerator and denominator of the
vl_setpoint_factor.
Section 7.5.9 on page 45
0x605A
Quick_stop
option_code
Specifies what action is performed in the
event of a quick stop function
Section 7.3.2 on page 33
0x605B
Shutdown_option
code
Used to control what action is performed
if there is a transition from the Operation
Enabled state to the Ready To Switch On
state.
Section 7.3.3 on page 34
0x605C
Disable
operation_option
code
This object is used to control what action
is performed if there is a transition from
the Operation Enabled state to the
Switched On state.
Section 7.3.4 on page 34
0x605E
Fault_reaction
option_code
This object is used to control what action
is performed when a fault is detected.
Section 7.3.5 on page 34
0x6060
Modes_of
operation
This object is used to request a change
in the mode of operation.
Section 7.3.6 on page 35
0x6061
Modes of opera-
tion display
This read only object is used to provide
the active mode of operation.
Section 7.3.7 on page 35
0x6062
Position_demand
value
Used to provide the currently demanded
position value.
Section 7.3.14 on page 38
0x6064
Position_actual
value
This read only object provides the actual
value of the position feedback device.
Section 7.3.15 on page 38
0x6085
Quick_stop
deceleration
This object is used to configure the
deceleration rate used to stop the motor
when the quickstop function is activated
and the quick stop code object (0x605A)
is set to 2 or 6.
Section 7.3.8 on page 35
0x608F
Position_encoder
resolution
This read only object indicates the con-
figured encoder increments per number
of motor revolutions.
Section 7.3.10 on page 36
0x6091
Gear_ratio This object is used to apply scaling. Section 7.3.11 on page 36
0x6092
Feed_constant This is used to configure a feed constant. Section 7.3.12 on page 37
0x60F4
Following_error
actual_value
This read only object provides the actual
value of the following error.
Section 7.3.16 on page 38
0x60FB
Position_control
parameter_set
object
Used to configure the positional control
gains.
Section 7.3.17 on page 39
Table 10.1 SM-EtherCAT objects reference
Object Name Description Cross reference