Elmo DSP 402 Object 0x606E Velocity window time, Index, 606Eh, Object 0x606F Velocity threshold

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

99

Object 0x606E: Velocity window time

The corresponding bit 10 target reached is set in the statusword when the difference between the target velocity and the velocity actual value is within the velocity window longer than the velocity window time. The value of the velocity window time is given in multiples of milliseconds.

Object description:

	Index	606Eh
	Name	Velocity window time
	Object code	VAR
	Data type	UNSIGNED16
	Category	Optional
Entry description:
	Access	Read/write
	PDO mapping	No
	Value range	UNSIGNED16
	Default value	0

Object 0x606F: Velocity threshold

As soon as the velocity actual value exceeds the velocity threshold longer than the velocity threshold time bit 12, velocity = 0, is reset in the statusword. Below this threshold, the bit is set and indicates that the axle is stationery. The value is given in velocity units.

Object description:

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