Parker Hauser COMPAX-M Series Interface Manual

Also see for Hauser COMPAX 02XXM Series: User guide

2.9 Acceleration2.9.1 RAMPENFORM472.9 Acceleration2.9.1 RAMPENFORMRamp form speed.Selection function with which the acceleration process is written.Object DescriptionIndex 0x6086Symbol RAMPENFORM Length 2 Access groups 0Object code Simple var. Password 0Data type Integer16 Access rights Read/write all PD Map Not possibleData DescriptionSelection code Ramp shape Selection code Ramp shape-1 square 2 without jerk0 linearExampleThe drive must travel with a squared ramp form.Service Write request Index 0x6086 1. data byte 0xffCommand Code 0x8082 Sub-index 0 2. data byte 0xffParam. counter 4 Length 22.9.2 ACCEL_POSAcceleration time.Time setting for the acceleration process.Also the time setting for the deceleration process as long as the object ACCEL-NEG or RAMPE-NEG has not been written to.The time specification applies to nominal speed (100%). t SPEED100% ACCEL_POSa = •Object DescriptionIndex 0x5feaSymbol ACCEL_POS Length 2 Access groups 0Object code Simple var. Password 0Data type Unsigned16 Access rights Write all PD Map Not possibleData DescriptionValue range 0 ... 65 000Unit ms Resolution 1 ⇔ 1 msExampleThe next positioning process must be implemented with an acceleration time of 1000 ms.Service Write request Index 0x5fea 1. data byte 0x03Command Code 0x8082 Sub-index 0 2. data byte 0xe8Param. counter 4 Length 2