Elmo DSP 402 manual 13.2Objects, Object 0x6069 Velocity sensor actual value, Index, 6069h, 606Ah

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

96

13.2Objects

Object 0x6069: Velocity sensor actual value

This object describes the value read from a velocity encoder, in increments/second. If the velocity sensor actual value is reflected by object 0x606C, it is scaled by position_factor_2 and by position_factor_1.

Object description:

	Index	6069h
	Name	Velocity sensor actual value
	Object code	VAR
	Data type	INTEGER32
	Category	Mandatory
Entry description:
	Access	Read/Write
	PDO mapping	Yes
	Value range	INTEGER32
	Default value	0

This value is not scaled with velocity factor 2.

Object 0x606A: Sensor selection code

The source of the velocity actual value (object 0x606C) can be determined using the sensor selection code, which determines whether a differentiated position signal or the signal from a separate velocity sensor needs to be evaluated.

Object description:

	Index	606Ah
	Name	Sensor selection code
	Object code	VAR
	Data type	INTEGER16
	Category	Optional
Entry description:
	Access	Read/write
	PDO mapping	No
	Value range	INTEGER16
	Default value	No