60A4h Profile Jerk
Function
In the case of a ramp with limited jerk, the size of the jerk 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