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
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
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
