Elmo DSP 402 manual Position encoder

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

7

Name	Index	Description	Access	Mappable?
Position encoder	0x608F	Defines relation between motor	R/W	N
resolution		revolution and position increments.
Velocity	0x6090	Defines ratio of encoder increments/	R/W	N
encoder		sec per motor revolutions/sec.
resolution
Position factor	0x6093	Converts position in user units to	R/W	N
		position in internal increments
Velocity	0x6094	Converts desired velocity in velocity	R/W	N
Encoder factor		units into internal increments/sec.
Velocity factor 1	0x6095	Converts motor data into velocity	R/W	N
		data.
Velocity factor 2	0x6096	Converts encoder data for position	R/W	N
		into encoder data for velocity.
Acceleration	0x6097	Converts the acceleration from user	R/W	N
factor		units to internal increments/sec.
Homing method	0x6098	Defines method by which homing	R/W	N
		procedure is performed.
Homing speed	0x6099	Sets speed for homing procedure.	R/W	N
Homing	0x609A	Sets acceleration for homing	R/W	N
acceleration		sequence.
Interpolated	0x60C0	Sets sub-mode for interpolated	R/W	N
position sub		position algorithm.
mode
Interpolated	0x60C1	Sets data for interpolation position	R/W	Y
data record		trajectory.
Interpolated	0x60C2	Defines time for interpolation	R/W	Y
position time		position trajectory.
period
Interpolation	0x60C4	Defines method to store position data	R/W	Y: buffer
data		record.		position
configuration				N: all the
				other
				entries.
Position	0x60FC	Reads position command in	R	Y
demand value		increments as given to position
		controller
Digital input	0x60FD	Reads digital input according to DSP	R	Y
		402, and also reflects Elmo digital
		input logical state.
Target velocity	0x60FF	Sets velocity reference for velocity	R/W	Y
		profiler.