User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
12 / 131
Setting the velocity V1 (object 2012
h
) to zero switches off the SixPoint ™ ramp. In this case, a trapezoidal
ramp defined by the parameters V
START
, A2, V
MAX
, D2 and V
STOP
will be used.
Note
The SixPoint ™ ramp will only be used in profile positioning mode (pp mode).
Profile velocity mode (pv mode) will always use a trapezoidal ramp, defined just
by the acceleration (object 6083
h
), the speed given using object 60FF
h
and the
start and stop speed (objects 2010
h
and 6082
h
). The deceleration parameters will
not be used in pv mode.
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com