PD4-EB EtherCAT Online Manual

6048h Vl Velocity Acceleration


Sets the acceleration ramp in Velocity Mode (see Velocity).

Object description

Index 6048h
Object name Vl Velocity Acceleration
Object Code RECORD
Savable yes, category: application
Firmware version FIR-v1426
Change history

Value description

Subindex 00h
Name Number Of Entries
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 000001F4h
Subindex 02h
Name DeltaTime
Data type UNSIGNED16
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 0001h


The acceleration 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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