60B1h, 68B1h Velocity offset - AxisX
This object sets the velocity loop feed forward scaled in CANopen velocity units. This value can also be viewed from WorkBench using the keyword AXIS#.FBUS.VL.FF. The loops are updated every cyclic fieldbus cycle. The fieldbus controller manages jumps in velocity command due to this feed forward when starting, stopping, switching opmodes, and all other transitions.
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- SDO access is Read/Write and PDO access is Write Only.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Velocity offset - Axis 1 | 60B1h | 0 | Signed32 | - | Velocity | Read/Write | Yes | All |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Velocity offset - Axis 2 | 68B1h | 0 | Signed32 | - | Velocity | Read/Write | Yes | All |
