Elmo The DSP 402 Object Dictionary, Implementation Guide, Name, Index, Description, Access

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

4

2: The DSP 402 Object Dictionary

This section describes the objects related to the DSP 402 device specific functionality. For more information about the object dictionary, refer to the Elmo SimplIQ CANopen DS 301

Implementation Guide.

Name	Index	Description	Access	Mappable?
Abort	0x6007	Function to perform on heartbeat	R/W	N
connection		event. (Link)
option code
Error code	0x603F	Captures the last error	R	N
Controlword	0x6040	Allows changing of drive states.	R/W	Y
Statusword	0x6041	Indicates current drive status.	R	Y
Quick stop	0x605A	Sets the quick stop option code.	R/W	N
option code
Shut down	0x605B	Sets the shut down option code.	R/W	N
option code
Disable	0x605C	Sets the disable operation option code.	R/W	N
operation option
code
Halt option code	0x605D	Sets the Halt option code.	R/W	N
Fault reaction	0x605E	Sets drive reaction when fault occurs.	R/W	N
option code
Modes of	0x6060	Sets mode of operation	R/W	Y
operation
Modes of	0x6061	Displays actual mode of operation.	R	N
operation
display
Position	0x6062	Output of profiler. Position	R	Y
demand value		command.
Actual position	0x6063	Actual position taken from position	R	Y
internal unit		sensor, in increments.
Position actual	0x6064	Actual position as taken from	R	Y
value		position sensor, in user units.
Position	0x6065	Defines a range of tolerated position	R/W	N
following error		values symmetrical to the position
window		demand value.
Position	0x6066	Defines the timeout for the next error	R/W	N
following error		window to set the following error
window time		indication.
Position	0x6067	Defines a symmetrical position	R/W	N
window		window for the target position for
		target reached indication.