CL4-E CANopen/USB/Modbus RTU Online Manual

60A4h Profile Jerk

Function

In the case of a ramp with limited jerk, the size of the jerk can be entered in this object. An entry with the value "0" means that the jerk is not limited.

Object description

Index 60A4h
Object name Profile Jerk
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: application
Firmware version FIR-v1426
Change history

Firmware version FIR-v1614: "Name" entry changed from "End Acceleration Jerk" to "Begin Deceleration Jerk".

Firmware version FIR-v1614: "Name" entry changed from "Begin Deceleration Jerk" to "End Acceleration Jerk".

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 04h
Subindex 01h
Name Begin Acceleration Jerk
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 000003E8h
Subindex 02h
Name Begin Deceleration Jerk
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 000003E8h
Subindex 03h
Name End Acceleration Jerk
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 000003E8h
Subindex 04h
Name End Deceleration Jerk
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 000003E8h

Description

  • Subindex 01h ( Begin Acceleration Jerk): Initial jerk during acceleration
  • Subindex 02h ( Begin Deceleration Jerk): Initial jerk during braking
  • Subindex 03h ( End Acceleration Jerk): Final jerk during acceleration
  • Subindex 04h ( End Deceleration Jerk): Final jerk during braking
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