PD2-C-IP CANopen Online Manual

604Ah Vl Velocity Quick Stop

Function

This object defines the deceleration (deceleration ramp) if the Quick Stop state is initiated in velocity mode.

Object description

Index 604Ah
Object name Vl Velocity Quick Stop
Object Code RECORD
Data type VELOCITY_ACCELERATION_DECELERATION
Savable yes, category: application
Firmware version FIR-v1426
Change history

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 02h
Subindex 01h
Name DeltaSpeed
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00001388h
Subindex 02h
Name DeltaTime
Data type UNSIGNED16
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 0001h

Description

The deceleration is specified as a fraction in user-defined units:

Speed change per change in time.

Subindex 01h: Contains the change in speed.

Subindex 02h: Contains the change in time.

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