60A4h Profile Jerk
Function
In the case of a ramp with limited jerk, the size of the jerk in user-defined units 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 | Number Of Entries |
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