Danaher Motion 07/06 Objects
M-S2-021-11 Initial Release 63
6. 32 SDO 60FFH: TARGET VELOCITY (DS402)
The speed setpoint (target velocity) represents the setpoint for the ramp generator. The scaling of this value
depends on the factor velocity encoder resolution (SDO 6094
h
).
Index 60FF
h
Name
target velocity
Object code
VAR
Data type
INTEGER32
Mode
pv
Access
rw
PDO mapping
possible
Unit
increments
Value range
(-2
31
) ... (2
31
-1)
Default value
—
EEPROM
no
6. 33 SDO 6040H: CONTROLWORD (DS402)
The control commands are built up from the logical combination of the bits in the control word and external
signals (e.g., enable output stage). The definitions of the bits are shown below:
Index 6040
h
Name
control word
Object code
VAR
Data type
UNSIGNED16
Mode
all
Access
rw
PDO mapping
possible
Unit
—
Value range
0 ... 65535
EEPROM
no
Default value
0
Bit assignment im control word
Bit Name Bit Name
0 Switch on 8 Pause/halt
1 Disable Voltage 9 reserved
2 Quick Stop 10 reserved
3 Enable Operation 11 reserved
4 Operation mode specific 12 reserved
5 Operation mode specific 13 Manufacturer-specific
6 Operation mode specific 14 Manufacturer-specific
7 Reset Fault (only effective for faults) 15 Manufacturer-specific
