User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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Object Description
Index Name Object Type Data Type
6085
h
Quick stop deceleration Variable UNSIGNED32
Table 307: Object Description (6085
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED32 51200
Table 308: Entry Description (6085
h
)
7.1.12 Object 6086
h
: Motion Profile Type
This object indicates the configured type of motion profile used to perform a profiled motion. Set this
object to 0 to select trapezoid ramps or to 1 for S-shaped ramps.
Value Definition
Value Definition
0 Linear (six-point) ramp, trapezoidal profile
1 S-shaped ramp, defined by object 60A4
h
(section 7.1.13)
Table 309: Value Definitions of Object 6086
h
Object Description
Index Name Object Type Data Type
6086
h
Motion profile type Variable UNSIGNED16
Table 310: Object Description (6086
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/1 0
Table 311: Entry Description (6086
h
)
7.1.13 Object 60A4
h
: Profile Jerk
This object indicates the configured set of jerk parameters that shall be used during the profile movement.
The bow of S-shaped ramps is set here. Object 60A4
h
can only be used when S-shaped ramps are selected
by setting object 6086
h
(section 7.1.12) to 1.
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