Elmo DSP 402 manual Homing offset, value and actual position value

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

6

Name	Index	Description	Access	Mappable?
Homing offset	0x607C	Defines offset from homing zero	R/W	N
		position to application zero position.
Software	0x607D	Defines limits for demand position	R/W	N
position limit		value and actual position value.
Polarity	0x607E	Sets polarity for position or speed	R/W	Y
		command and actual value.
Max profile	0x607F	Defines limit to which a profile	R/W	N
velocity		velocity speed is saturated.
Profile velocity	0x6081	Sets the speed for the profile position	R/W	Y
		motion.
Profile	0x6083	Defines the acceleration for the	R/W	Y
acceleration		profile velocity and profile position
		motion.
Profile	0x6084	Defines deceleration for profile	R/W	N
deceleration		velocity and profile position motion.
Quick stop	0x6085	Sets the deceleration for a quick stop	R/W	N
deceleration		state.
Motion profile	0x6086	Defines method by which profile	R/W	N
type		motion is evaluated (linear or jerk)
Torque slope	0x6087	the rate of change of torque	R/W	Y
Torque profile	0x6088	Used to select the type of torque	R/W	N
type		profile used to perform a torque
		change.
Position	0x6089	Used to scale position objects.	R/W	N
notation index
Position	0x608A	This object defines the position	R/W	N
dimension index		dimension index.
Velocity	0x608B	This is defined by the physical	R/W	N
notation index		dimensions and calculated by unit type.
Velocity	0x608C	This is used together with the velocity	R/W	N
dimension index		notation index to define a unit.
Acceleration	0x608D	The unit is defined by the physical	R/W	N
notation index		dimensions and calculated by unit
		type and exponent
Acceleration	0x608E	This defines the acceleration	R/W	N
dimension index		dimension index, which is used
		together with the acceleration
		notation index (object 0x608D) to
		define a unit