Emerson 0471-0128-02 manual Provides the velocity at the motor spin 3 on

Table 10.1 SM-EtherCAT objects reference

Object	Name	Description	Cross reference
0x6044	vl_velocity_actual	Provides the velocity at the motor spin-	Section 7.5.3 on page 42
	value	dle or load.
0x6046	vl_velocity_min	This object is used to configure the mini-	Section 7.5.4 on page 42
	max_amount	mum and maximum velocity.
0x6047	vl_velocity_min	This object is used to configure the mini-	Section 7.5.5 on page 43
	max	mum and maximum velocity.
0x6048	vl_velocity	This object is used to configure the delta	Section 7.5.6 on page 43
		speed and delta time of the slope of the
	acceleration
		acceleration ramp.
0x6049	vl_velocity	This object is used to configure the delta	Section 7.5.7 on page 44
		speed and delta time of the slope of the
	deceleration
		deceleration ramp.
0x604A	vl_velocity_quick	This object is used to configure the delta	Section 7.5.8 on page 44
		speed and delta time of the slope of the
	stop	deceleration ramp for quick stop.
0x604B	vl_setpoint	This object is used to configure the	Section 7.5.9 on page 45
		numerator and denominator of the
	factor
		vl_setpoint_factor.
0x605A	Quick_stop	Specifies what action is performed in the	Section 7.3.2 on page 33
	option_code	event of a quick stop function
		Used to control what action is performed
0x605B	Shutdown_option	if there is a transition from the Operation	Section 7.3.3 on page 34
	code	Enabled state to the Ready To Switch On
		state.
	Disable	This object is used to control what action
		is performed if there is a transition from
0x605C	operation_option		Section 7.3.4 on page 34
	code	the Operation Enabled state to the
		Switched On state.
0x605E	Fault_reaction	This object is used to control what action	Section 7.3.5 on page 34
	option_code	is performed when a fault is detected.
0x6060	Modes_of	This object is used to request a change	Section 7.3.6 on page 35
	operation	in the mode of operation.
0x6061	Modes of opera-	This read only object is used to provide	Section 7.3.7 on page 35
	tion display	the active mode of operation.
0x6062	Position_demand	Used to provide the currently demanded	Section 7.3.14 on page 38
	value	position value.
0x6064	Position_actual	This read only object provides the actual	Section 7.3.15 on page 38
	value	value of the position feedback device.
		This object is used to configure the
0x6085	Quick_stop	deceleration rate used to stop the motor	Section 7.3.8 on page 35
		when the quickstop function is activated
	deceleration
		and the quick stop code object (0x605A)
		is set to 2 or 6.
	Position_encoder	This read only object indicates the con-
0x608F		figured encoder increments per number	Section 7.3.10 on page 36
	resolution	of motor revolutions.
0x6091	Gear_ratio	This object is used to apply scaling.	Section 7.3.11 on page 36
0x6092	Feed_constant	This is used to configure a feed constant.	Section 7.3.12 on page 37
0x60F4	Following_error	This read only object provides the actual	Section 7.3.16 on page 38
	actual_value	value of the following error.
0x60FB	Position_control	Used to configure the positional control	Section 7.3.17 on page 39
	parameter_set	gains.
	object

Information	Safety
Introduction
Installation	Mechanical
Installation	Electrical
Started	Getting
Protocols
support	Drive profile (DSP-402)
features	Advanced
Diagnostics
Reference	Quick
Terms	Glossary
	Of
Index

SM-EtherCAT User Guide	63
Issue Number: 2	www.controltechniques.com