Elmo DSP 402 Object 0x606C Velocity actual value, Index, 606Ch, Object 0x606D Velocity window

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

98

Object 0x606C: Velocity actual value

This object is represented in velocity units and is coupled with the velocity used as input to the velocity controller. The object is taken from either the position sensor or the velocity sensor. In UM=5 (single position loop), this object reflects the load and the motor value; in UM=4 (dual loop), object 0x606A determines which sensor is reflected.

Object description:

	Index	606Ch
	Name	Velocity actual value
	Object code	VAR
	Data type	INTEGER32
	Category	Mandatory
Entry description:
	Access	Read only
	PDO mapping	Yes
	Value range	INTEGER32
	Default value	No

Object 0x606D: Velocity window

This object monitors whether the required process velocity has been achieved after an eventual acceleration or deceleration (braking) phase. It is given in velocity units.

Object description:

	Index	606Dh
	Name	Velocity window
	Object code	VAR
	Data type	UNSIGNED16
	Category	Optional
Entry description:
	Access	Read/write
	PDO mapping	No
	Value range	UNSIGNED16
	Default value	No