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CHAPTER5 CANOPEN COMMUNICATION FUNCTION
19
5.1.14 vl_velocity_acceleration (Index: 6048h)
The vl velocity acceleration index specifies the slope of acceleration ramp for RFG. (32bit length)
It is generated as the quotient of the delta speed(Sub-index1) and delta time(sub-index2) sub-
index.
Sub-index1 = delta speed (unit: min
-1
Minimum unit: 1dig= 1min
-1
)
Sub-index2 = delta time (unit: sec Minimum unit: 1dig= 1sec)
vl_velocity_acceleration = delta_speed / delta_time
This Index is effective only RFG mode.
velocity
time
delta time
delta speed
5.1.15 vl_velocity_deceleration (Index: 6049h)
The vl velocity deceleration index specifies the slope of deceleration ramp for RFG. (32bit length)
It is generated as the quotient of the delta speed(Sub-index1) and delta time(sub-index2) sub-
index.
Sub-index1 = delta speed (unit: min
-1
Minimum unit: 1dig= 1min
-1
)
Sub-index2 = delta time (unit: sec Minimum unit: 1dig= 1sec)
vl_velocity_acceleration = delta_speed / delta_time
This Index is effective only RFG mode.
velocity
time
delta time
delta speed